6DOF Joystick

All my designs & progress available @ http://marginallyclever.com. I can make one for you if you want.
Video: http://www.youtube.com/watch?v=rhuM6Cnn5Pk
Some times creation is all about low hanging fruit. I already have a Rotary Stewart Platform (http://www.thingiverse.com/thing:64396) and I suck at Kerbal Space Program. I thought if I could make a 6DOF joystick maybe I could do better at orbital rendezvous. It could also work in Minecraft or Descent, maybe.
If you use one of my designs, please let me know! I'd love to see what you make with it and share with others who are interested.
It would be awesome if someone would help improve the kinematics for this robot. Forward kinematics are beyond my math skills and they're essential to make the joystick complete.

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Blog: http://marginallyclever.com/