Patent ID: 8770768

Claim:
A spherical mechanical linkage comprising: a yoke comprising an annular section and one or more yoke bearing points, the yoke defining a first intersecting axis and a second intersecting axis perpendicular to the first intersecting axis, the one or more yoke bearing points being disposed on the yoke on the second intersecting axis; a crank comprising a crank bearing, the crank being rotatably coupled to the yoke about the first intersecting axis, the crank having a symmetry about the first intersecting axis; a rocking frame comprising an annular section rotatably coupled to the yoke about the second intersecting axis at the one or more yoke bearing points, the rocking frame defining a plane; a deflecting member slideably coupled at one or more bearing points to the rocking frame along a third intersecting axis; and a stub shaft coupled to the deflecting member and rotatably coupled to the crank along a fourth axis.