Comparison of crank based leg mechanism/Jansen linkage Modifications

Wrong Angle / Missing measurement / Tilt
(There are elven rods, but the two fixed points are a and l apart from each other)

Triangle
Traditionally, the leg is formed by just using rods:

A fully-parametric strandbeest implemented in OpenSCAD, with assembly instructions, is available for 3D printing.

Using Rod of the same length
f=39,4 and c=39,3 are so close in length, that using rods of the same length can simplify the assembly without affecting the gait to much.

Note that in practice, the whole mechanism as play and flex, undergrounds are not perfectly flat and lengths and holes have manufacturing inducted errors.