Tripody: An Overconstrained 3-SPR-like Parallel Robot for High-Reach Construction Tasks

arXiv:2607.25781v1 Announce Type: new Abstract: Many ceiling construction tasks still rely on heavy serial manipulators that are difficult to deploy in cluttered interiors, motivating lightweight, field-ready alternatives that reach ceiling height while maintaining millimeter-level accuracy and the stiffness demanded by overhead tool loads. We introduce Tripody, a wheeled 3-DoF parallel robot for high-reach tasks that replaces the base spherical joints of a classical 3-SPR (3 legs; S: base spher...