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Spherical Parallel Manipulator

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Creation quality: 5.0/5 (1 vote)
Evaluation of members on the printability, utility, level of detail, etc.
  • 5k views
  • 6 likes
  • 9 downloads
License
3D design format
STL and ZIP Folder details Close
  • Assembly.stl
  • Base.stl
  • BracketPin.stl
  • Gear.stl
  • Gear_Drive.stl
  • Gear_Lv1.stl
  • Gear_Lv2.stl
  • Gear_Lv3.stl
  • Link_90.stl
  • Link_LV2.stl
  • Link_Lv1.stl
  • Link_Lv3.stl
  • MotorAssembly.stl
  • MotorBracket.stl
  • PartFiles.zip
    • Assembly.f3d
    • Assembly.step
    • Base.f3d
    • Base.step
    • BracketPin.f3d
    • BracketPin.step
    • Gear.f3d
    • Gear.step
    • Gear_Drive.f3d
    • Gear_Drive.step
    • Gear_Lv1.f3d
    • Gear_Lv1.step
    • Gear_Lv2.f3d
    • Gear_Lv2.step
    • Gear_Lv3.f3d
    • Gear_Lv3.step
    • Link_90.f3d
    • Link_90.step
    • Link_Lv1.f3d
    • Link_Lv1.step
    • Link_LV2.f3d
    • Link_LV2.step
    • Link_Lv3.f3d
    • Link_Lv3.step
    • MotorAssembly.f3d
    • MotorAssembly.step
    • MotorBracket.f3d
    • MotorBracket.step
    • PinWasher.f3d
    • PinWasher.step
    • SG90_Model.f3d
    • SG90_Model.step
    • SphericalManipulator.ino
    • StackPin.f3d
    • StackPin.step
    • StagePin.f3d
    • StagePin.step
    • TopStage.f3d
    • TopStage.step
  • PinWasher.stl
  • SG90_Model.stl
  • StackPin.stl
  • StagePin.stl
  • TopStage.stl

Learn more about the formats
Publication date 2022-09-24 at 14:23
Design number 859232
plusalphadesigns

plusalphadesigns

3D printer file info

3D model description

Inspired by videos on YouTube, I decided to make a functional model of a spherical parallel actuator. The 3-axes are controlled by small SG90 servomotors, which should be locally available. The top stage has 3mm diameter holes placed radially outwards in 12 directions spaced 12mm apart, so that other "gadgets" can potentially be mounted.

Attached Arduino demo code will get the Manipulator up and running. It will demonstrate what kind of motions the Manipulator can make. It is only a demo so it will need some upgrade in order to meet specific needs.

The ZIP file contains STEP and F3D files of all STL components, as well as the Arduino demo code.

I considered designing the Manipulator with bearings for smoother motion, but I preferred designing something with minimal purchased parts, with the hope that it will be accessible to a wider audience. I kept the locations of the screws to a minimum (only key locations such as the motor mount and the connection between the Links), and introduced using the 1.75mm Filament as a "locking Pin" to prevent things from falling apart.

The files (STL only) are also available on Thingiverse found here:
https://www.thingiverse.com/thing:3951917
Please download from Cults if you would also like to have access to F3D or STEP files (or to simply support my work!).

If you choose to make derivatives and share them online, please do so on Thingiverse as a Remix with the same license (Creative Commons - Attribution - Non-Commercial - Share Alike), and upload only the STL files.

If you would like to leave a tip, please check out my Ko-fi page! Really appreciate your support! https://ko-fi.com/plusalphadesigns

Assembly and demo video is available on YouTube:
https://www.youtube.com/watch?v=hj0oFC73A5c

3D printing settings

To Print:
- Base
- Drive Gear : 3ea
- Gear Level 1
- Gear Level 2
- Gear Level 3
- 90deg Link : 3ea
- Link Level 1
- Link Level 2
- Link Level 3
- Motor Bracket : 6ea
- Link Pin : 3ea
- Stack Pin
- Stage Pin : 3ea
- Top Stage
- Washer : 6ea

Items to Purchase:
- SG90 Servo-motor, or equivalent : 3ea
- Servo-horns for servo-motor : 3ea
- M2 Screw (12mm or 15mm) : 3ea
- M2 Nut : 3ea : 12ea
- M3 Screw (12mm or 15mm) : 12ea
- M3 Screw (20mm) : 6ea
- M3 Nut : 18ea

I printed all parts using PLA filament, with 0.2mm layer height and 15 % infill.

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