3 Rps parallel robot

This type of robot can make roll, pitch and heave motions. Thus can be used as a motion simulator platform. Kinematics of this robot was calculated according to euler zyz angles. This makes use of the robot in racing simulator games. The robot also can be used as a rehabilation device for foot. I've used Megamat mcz cylinders, fiat doblo/palio/albea rod-ends, and some up08 bearing blocks in this project's mechanical design. Drawings of custom made parts are attached.