Spherical Parallel Manipulator Prototype

This Model is Functional but Unoptimized

DISCLAIMER: (2026) This was a fun project but I have not actively worked on it or put out a new version in over a year now. Have fun printing it, as it works fine as described, but please do not expect further update or development to make a better version. My printer is kinda broken and I have been working on other things. Thanks for all the support all who continue to download this thing.

UPDATE: (2024) MakeBreakRepair, The creator of the original video and mechanism I took inspiration from, has joined the Discord and is helping me design 2.0. He also appears to be making a second version of his own. Check the discord for details. Thanks for the shoutout MakeBreakRepair!

Check out this video that was my inspiration for more details and a demonstration:

https://youtu.be/6yx700AdzLI?si=OWtkXrEeZeETxUBn

His version is much more robust. But he wasnt sharing or selling the files, so I figured I'd take a crack at it, and I managed to get a functioning prototype going within a few hours and two printing iterations. I plan on beefing it up, especially if there is interest from people who need it for actual usage.

This type of mechanism has many uses and drive modes, but this model is undriven and you just move it manually.

The Model is designed to use (6) m4x12 screws and nuts, but I also made some snap in fasteners you can just print to get going. These will wear out over time and become looser, but will suffice for most peoples usage. Print 3 of both sizes, and use the longer three on the tri-platform and the shorter three on the rotators.

The Threaded Platform is something I added so that you can dial the height of an object to anywhere you want to focus on. There is a space on the inside of it for an optional 6x2mm Magnet so that you can make things snap to it magnetically and stay in position.

The Model does need (3) Standard 608 Skateboard bearings, the type that are used in fidget spinners and many 3d Printing products. I can post a version that doesnt require these but it is much stiffer in its movement (something that some may find desirable)

Most of the parts do not require supports, But you must use supports on the following parts: LinkageSPMx3 (Print 3 of these).

I printed mine close together, almost overlapping, so that their support structure would be one single piece, and it worked really well.