CAD (Computer Aided Design) model of the robot

First step of the project was to come up with a certain design of the robot that would fit all geometrical constrains and to create a virtual prototype. After initial failures, maiden form of the project was created. When basic idea was complete, further development was iterative procedure with all parts modified or designed from scratch to match others. After three iterations, all of which were based on initial idea, a final model was created. Minor tweaks and adjustment to numerous parts were required, however finally the virtual prototype was complete. Last modifications to CAD part occurred when parts were bought and delivered. Proper fittings and occasionally dimension adjustments (to meet physical values) were made. Next step was to assemble a real prototype.