Robot and coupling joint suitable for use with daylighting systems or solar tracking system

A robotic coupling joint system with a wide range of motion, the system comprising:

• a stand;
• an end effector coupled to the stand, wherein the end effector comprises optical elements, and the end effector is capable of tracking sunlight;
• a spherical joint coupling the end effector to the stand, wherein the spherical joint allows axial motion about at least one axis of the spherical joint, and the spherical joint comprises
• a first plate with at least one socket,
• a second plate secured to the stand or the end effector,
• a connector, and
• at least one sphere positioned in the socket and positioned between the first and second plates, wherein the connector secures the sphere between the first and second plates;
• a mobility system linked to the end effector, wherein the mobility system is capable of actuating the end effector, and the mobility system comprising
• two or more linking elements with a first end of each coupled to the end effector, and
• a motor coupled to the linking elements, wherein the motor shortens or lengthens the linking elements to actuate the end effector relative to the stand.