Worse still, the model above is simplified - the actual model uses servos and push rods.

Thanks - I have some reading to do!

Hi, I'm a Solidworks/CAD novice/hobbiest and not sure if i'm looking in the right place for my solution. I'm in the process of building a hexapod robot and wanted some help working out the maths. The image below shows an assembly mock-up of one of the legs - the chassis on the Left, 3 rotational piv...