Here is my latest project, a Skelerector (summer/fall 2006).

A big thanks to Brad Fraley and his
BooPack Software
This software allowed me to design the 4-bar linkage pretty much exactly how I wanted it after I
changed my mind several times.  But, the dimensions worked as predicted each time too and that is
the most important part.

Directly below is the .bar file I used for designing my skelerector.  Feel free to download it and play
with it for your needs.  These dimensions were specifically tailored for the Menards skeleton.
final_design.bar
An important item shown by the arrow is having the
forward/upper (point 2 from diagram above) horizontal
piece to have its pivoting at the ends with the torso bar
welded to it then.

I welded a couple small pieces just below the pivoting area
so I could zip tie the upper leg bone onto.
In my own personal design, I vertically offset the 4-bar system to
allow the lower leg bone to be in line with the foot flat on the ground.

This is also allowing me to try a more "off the wall" air cylinder
connection setup than what I have seen done by others.

Yes, I like to do things differently.  What fun and less frustration
would it be iif just copying a tried and true method.  :-)
Onto Page 2 for some higher res pics
To Video Page
How-To Pages
The main dimensions needed for the
design are:
02-03
01-00
00-02
01-03

Shown in the Set Size table are the
dimensions (well rounded some) for
the skelerector I built.
Skelerector Home Page
Added Arm Action