Patent ID: 8876077

Claim:
A spherical orienting device, comprising: a base; first and second actuation shafts rotatably held by the base and configured for rotary actuation about first and second actuation axes, respectively, wherein the first and second actuation axes intersect orthogonally at a spherical center of rotation; an orientable device supported by first and second revolute support joints, wherein the first support joint is configured for rotation about an orientation axis of the orientable device and the second support joint is configured for rotation about a support axis orthogonally intersecting the orientation axis at the spherical center of rotation; an inner member fixed to the first actuation shaft and linked to the second support joint, wherein the first actuation axis is disposed orthogonal to the support axis; a middle member inwardly linked to the first support joint and outwardly linked to a middle revolute joint disposed for rotation about a linkage axis passing through the spherical center of rotation; and an outer member fixed to the second actuation shaft and linked to the middle revolute joint; wherein the linkage axis is disposed orthogonal to the orientation axis and the linkage axis is disposed orthogonal to the second actuation axis; and the outer member is rotatable by 360 degrees.