Controlling a disk of 3 rotational DOF

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:
• 3D Printed Prototype o...
STEP files of this video:
www.mediafire.c...
Inventor files:
www.mediafire.c...

[@roidroid]

Everyone should watch the video link in the description. This thing has continuous rotation! Very cool.

[@democritodeabdera2282]

I loved it! It can be used to put the "terminal" or clamps of a robot arm, and would allow to place the motors as far back as possible by means of a direct transmission. Thanks for the idea!

[@maxgreen6838]

Whoa, this one is brilliant!

[@landr002]

Great design, I think it might be the hell out of a hexapod

[@vivekyadav]

Love it!

[@quequeissominhagente]

Wow very cool

[@justsomeamerican2301]

Freaking cool dude

[@lucascott5472]

The middle gear is 4mm too small you might want yo change that

[@spongebobvui5047]

the blue bars are 90 degrees what are the angles of green, beige and violet ?

[@thang010146]

60 deg. for the green. beige and violet bars.

[@sihimoge]

Dear friend, I want to design machine that performs automatic facing operation on lathe machine.
I need running collets, automatic clamping on same baseplate. Can you suggest me?
It will be a great help.
Thank you!

[@thang010146]

Sorry, I can't help you. Your project is too complicated for me.

[@abdul-raufahmed6492]

excellent sir, can you put the dimensions so everyone can practice it?

[@thang010146]

Links to download CAD files are given in the video description.