DD Parallel Robot Clock - PDK
- chrish960
- Aug 26
- 1 min read
The Direct Drive Parallel Robot Clock uses a human capable 6-DoF parallel robot to create precise 1-second timekeeping. A 40mm ball moves clockwise through 60 pockets arranged in a 645mm diameter circle, advancing one position every second. The system executes a complex motion sequence combining vertical translation (75.932mm span) and rotation (6° per step). Each second, the platform drops at -5.0g, breaking contact with the ball, rotates to align with the next pocket, then catches the free-falling ball with minimal impact using calculated trajectories. Motion control runs on a Teensy 4.1 at 3003Hz over Ethernet, with real-time feedback from an ARK Forward Kinematics Unit. The catch trajectory uses acceleration control for speed, while the return uses snap-controlled motion for smoothness. Finally, a clock that requires a PhD to set the time.
