Virtual prototyping tools: We used Matlab to perform virtual kinematic analysis on our four-bar linkage designs. Our program that took linkage dimensions as inputs and usde them to calculate the position, velocity, and force profiles of our linkage coupler point. We used Working Model, a 2D dynamic simulation program, to develop the geometry of the Lemur's hands and its stabilizing tail. We created a three-dimensional Solidworks assembly of over 100 parts to help us visualize the integration of our puchased parts with custom-fabricated parts.

Physical construction: We created 2D drawings from our 3D Solidworks model and used a lasercamm to cut the robot's body out of masonite sheets.