Look at what I found over at the FreeCad community.

3D Printing
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1

Look at what I found over at the FreeCad community.
Sorry if I’m late sharing this here.

Originally shared by Javier Martínez

From real world to FreeCAD: DIY 3D Scanner.
(I don’t know if the result is clear enough at the video, but it generates a cloud of points with the exterior shape of the toy car )
http://www.youtube.com/watch?v=0ZUMAio8Vvc

2

That’s awesome, though aren’t the inverse kinematics a bit difficult to do?

3

You need forward kinematics here, not inverse - you know the joint positions, and want the cartesian coordinates. Forward kinematics are very easy - a few transformation matrices, or quaternions if you’re into that.

Also that looks like a 3-DOF arm, the analytical form IK is trivial also if you wanted it for some reason.

4

reverse design very good!