Spherical Parallel Mechanism
grabcad
Here is a Spherical Parallel Mechanism Joint. This is a work in progress. Mechanism uses three stepper motors.Here is a short video is the joint working.https://youtu.be/cFRcwntOpEgAssembly:The Image shows the assembly order of the mechanism pieces. Screw together the pieces as you go. The circles indicate when to add the 4.5mm balls.Press fit bearings into arms. Bolt together mechanism arms, placing a spacer between the two bearings. Tighten nylon nuts so that the arms rotate freely but don't wobble.Hardware:15 Bearings 11/16"OD x 1/4"ID x 1/4"THTorx screw for Plastic M2.26 8L 0.91thread (McmasterCarr (99397A189))4.5mm BB's (Actual dimension seems to be 4.38mm) QTY: A LOT1/4" bolts 1" long QTY 61/4" nylon nuts QTY 61/4" rod 3.5" Long QTY 317 NEMA stepper motors QTY 3Update:Updated the arms to give a wider range of travel. Replace CirPattern2[1].sldprt with Arm.sldprt
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