3 DOF spherical mechanism

I designed a 3DOF spherical parallel mechanism inspired by the "Agile Eye" a 3DOF RRR spherical mechanism used  for orienting a camera. Using Printed Circuit-MicroElectroMechanical Systems (PC-MEMS) fabrication techniques, the mechanism can be assembled using an assembly linkage. The "pop-up" structure is returned to the laser where a portion of the assembly linkage (purple and green linkages) is removed releasing the mechanism from the assembly linkage.

By attaching a motor to each of the blue links, the orange stage can undergo pitch, roll and yaw rotations. This stage has the potential to be used to orient a camera or distance measurement sensor.