Spherical Parallel Mechanism Joint

thingiverse

Here is a Spherical Parallel Mechanism Joint, still in development. The mechanism relies on three stepper motors for its operation. View a short video demonstrating the joint in action: https://youtu.be/cFRcwntOpEg Assembly Instructions: The image illustrates the assembly sequence of the mechanism components. As you assemble the pieces, screw them together, and insert 4.5mm balls at the indicated points. Insert bearings into the arms by press fitting them into place. Then, bolt the mechanism arms together, placing a spacer between the two bearings. Tighten the nylon nuts to allow the arms to rotate freely without wobbling. Hardware Requirements: * 15 Bearings: 11/16" outer diameter x 1/4" inner diameter x 1/4" thickness * Torx screw for Plastic M2.26 8L 0.91 thread (McmasterCarr part number 99397A189) * A large quantity of 4.5mm ball bearings, although they measure 4.38mm in actuality * 1/4" bolts, 1" long, in quantities of six * 1/4" nylon nuts, also in quantities of six * 1/4" rod, 3.5" long, required in quantities of three * Seventeen NEMA stepper motors, needed in quantities of three Update: January 4, 2020 - The arms have been updated to provide a wider range of motion. Additional information will follow shortly.