3 DOF ball balancing robot
grabcad
This is a model of a 3-DOF RRS parallel manipulator, or in simpler terms, a ball-balancing robot. With a touch panel to track the ball's position, inverse kinematics to calculate required stepper motor positions, and 2 PID controllers for driving the X and Y axes displacement to 0, the robot is able to center the ball to any user-defined position or even create a mathematical path for the ball to follow such as an ellipse! I designed, modeled, and 3D printed this myself, if you have any questions regarding design choices or printing procedures please let me know :)
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