Screw Driven Hexapod Robot Design

This is a robot I designed in summer holiday in 2012.This design is mainly a Solidworks modeling practice.I tried to use CAD software and simulation to verify my idea instead of trial and error with the gears,which was what I used to do.I did some analysis on the leg structure by hand at first,but it turned out to be very complicated.So later on I turned to use Solidworks to simulate the legs.The project was abandon later on because I had to put my effort in my CNC project,which lasted for more than two years.But I decided to post it out and maybe someone is interested in such a screw driven mechanism and my work could make some small contribution.