5 DOF Pantograph micromanipulator (proof of concept)

A Lego prototype (far too much slack in the joints to have any precision) of a 5 d.o.f. pure rigid linkage pantograph (no strings) for movement reduction. This is 14:6 reduction, odd numbers because of the Lego elements I happened to find first in my boxes.
I wanted to remove the constraints on the tool angle which you get with a pure translational pantograph. You still can't spin the tool around its length axis, but you can tilt it in any direction, making tasks like cutting and painting a lot easier. The handling at the controller end feels very natural and unconstrained.
I might never actually build a high precision metal version of this, but making this prototype was fun.

Видео 5 DOF Pantograph micromanipulator (proof of concept) канала Stefan Gustavson