This is my completed model of a Byun & Cho (1997) 6-DOF, 3-PPSP Parallel Manipulator, printed in PLA. In a working machine, steppers would walk the ball-and-socket joints horizontally and vertically. The rectangular sliding joints in the middle are passive, as are the ball-and-socket joints. This was mostly an exercise in reducing the number of bolts I needed - and working around the problems of printing overhangs - and was otherwise straightforward.
