This repository houses the codebase for the 3RRS Parallel Manipulator. It serves as a comprehensive collection of resources, including code, CAD models, calculations, and component datasheets. We aim to create a well-documented reference that will enable future teams to build upon our work.
- ✅ Robust Mechanism Design
- ✅ Efficient and Fast Inverse Kinematics
- ✅ Precise Orientation with minimal lag
The Inverse Kinematics have been completely solved, coded, and used in multiple applications, one being a ball balancing robot.
- Intro to Serial and Parallel Manipulators
- Inverse Kinematics with the example of a Ball Balancing Bot
- Research Paper on Kinematics and Dynamics of a 3RRS Parallel Manipulator
- Autodesk Fusion 360
- Python
- Arduino IDE
- DC Geared Motors
- Rotary Encoders
- Motor Drivers
- Arduino Mega
- We follow the standard Git workflow for collaboration
- Suggestions for improvement are welcome via Issues or Discussions.