Spherical Parallel Manipulator (hexapod)

cults3d

The servomotors controlling the 3-axes are compact SG90 units, readily obtainable in most areas. The top platform boasts 3mm diameter holes distributed radially outward in 12 directions, each spaced 12mm apart, to accommodate various accessories that can be mounted externally. A downloadable Arduino demo code is included, enabling users to quickly bring the Manipulator online and witness its capabilities firsthand. Although this demo serves as a starting point, it necessitates further modifications to cater to specific requirements. Initially, I contemplated incorporating bearings for smoother motion in the design, but opted instead for minimal purchased components with the goal of making the project more accessible to a broader audience. The screw locations were minimized (restricted to critical areas such as motor mounts and link connections), while utilizing 1.75mm filament as an "locking pin" to prevent disassembly. This innovative approach enables users to repurpose the Manipulator on various platforms, including UAVs and missiles, by leveraging its versatility.