Controlling a disk of 3 rotational DOF

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30 Mar 2023

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Yellow disk is controlled by three step motors (grounded) via gear drives and a spherical mechanism (axes of all nine revolution joints are concurrent). By combination of positions of green, beige and violet bars the disk can reach any angular position in 3D space. However, the calculation is not simple. See a real mechanism: STEP files of this video: Inventor files:

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