SPMv2: 3D Printed Spherical Parallel Manipulator (LeRobot-Compatible)

This is the latest version of my spherical parallel mechanism (SPM) end effector for a robotic arm project.

By converting the rotation of three parallel discs into a smooth spherical motion, this design is highly versatile and can serve various joint configurations.

In this version, I’ve replaced the EMAX GB2210 BLDC gimbal motors with FEETECH STS3215/LX16A servos. The GB2210s are no longer widely available, and this switch also eliminates the need for the Storm32 BGC 32Bit MCU, greatly simplifying the build process while preserving core functionality. Since this build uses servos, the joint reacts slightly slower compared to the gimbal motors. However, combined with the existing 1:4 reduction ratio, the additional gear reduction from the servos results in increased torque at the cost of speed.

An exciting update with this version is full compatibility with the LeRobot library on Huggingface, thanks to the use of the FEETECH STS3215. This opens up broader software integration and makes the joint easier to control and customize in robotic applications.

While this is still a work in progress, the current design includes several improvements and is fully functional. If you're looking for a unique mechanism or a foundation for your own projects, feel free to print and experiment with it!

A finalized design is still in development, but this version is already a fun and practical prototype. Your feedback is always appreciated—happy printing! 😊

https://www.instagram.com/open.the.pod.bay.doors/

https://github.com/huggingface/lerobot