SPM - 3D Printed Spherical Parallel Manipulator

This is a WIP of my end effector for a robotic arm that I am building...  

Since it translates the rotation of three parallel discs into a spherical motion,

it is useful for quiet a few joint types.

This is by no means a finished design, but if you would like to use it as a starting point,

you can already print your own. 

It might take me some time until I will be ready to present a finished version, 

so in the meantime this might be fun to play with! :)

Also check my Instagram for updates…

https://www.instagram.com/open.the.pod.bay.doors/

Hardware consists of 

3 x EMAX GB2210 BLDC 

3 x AS5048A Encoder 

and the Storm32 BGC 32Bit MCU 

Bearings used 

3 x 61709-ZZ 45x55x6mm 

12 x MR128-2RS 8x12x3.5mm 

6 x 679 9x14x3mm 

SimpleFOC and Python coding by Richard Unger https://www.youtube.com/channel/UCUkC7jL6yd6N-Q9FGkmAhFQ