Mechanism for control of position and orientation in three dimensions

A three degree of freedom mechanism for moving and positioning a member in space, comprising:

• a) at least three branches each provided with at least first and second link members being serially connected together by a spherical joint;
• b) at least three revolute joints each defining an axis of rotation, said at least three revolute joints being connected to associated second link members so that said axes of rotation of said at least three revolute joints intersect at a point of intersection, wherein the distance from said point of intersection to each spherical joint remains constant during movement of said at least three branches, said revolute joints being interconnected so that said at least three branches define at least three parallel closed loops;
• c) said at least three joints being an even number of revolute joints equal to twice the number of branches with each second link member having an end portion thereof attached to a first number of said at least three revolute joints, and a second number of said revolute joints being located in alternating relationship substantially between said first number of revolute joints and attached thereto by third link members, each of said second number of revolute joints having an axis of rotation and said axes of rotation intersecting at said point of intersection;
• and
• d) actuator means secured on a base and operably connected for moving each of said at least three branches.