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Pictures of the parts before and after assembly...everything fits perfectly!
After the frame was assembled, it was time to think about the mechanism for the 2-3-2. After seeing Mike Lambert's center leg design using the satellite motor to extend/retract the center leg, I decided to build a modified version of that. But instead of using two more motors mounted in the shoulders, I opted for a single motor buried lower in the body, with a link that could tilt the legs/body once the center leg was lowered.

Before anything else could be done, I needed to know exactly where the leg rod needed to be mounted inside the leg. This rod enables R2 to stand in two-leg mode, and tilts the main feet to the proper angle when in three-leg mode. The position of the rod is critical, so I built a full scale model of R2 to test various positions.

The photos above show R2 in the standing(2 leg) position, and in 3 leg position. I decided that the top mounting position for the rod will be 1-3/16" behind and 1-1/8" below the center pivot point of the main leg. The lower mounting point will be 1-1/2" behind the main foot pivot point.
Before and after the skins. Still some areas that need to be trimmed out for various parts, such as the cutout for the octagon port.
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2006 R2-Depot

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