The photos below show the design progression that the system took. All the CAD seen is my own original work (Except for the shell in the final image). I apologize some concepts were abandoned before they could be completed.
|Original Concept and Outline|
|Full Aluminum Truss-Like Structure|
|Hybrid Wood-Aluminum with Linear Actuator|
|Hybrid Material with Offset Planes of Rotation|
|Final Design Designed for Controller Simplification|
|Final Design of the Incurve Spherical Robot|