Device for a body's spherical motion control

A device for controlling spherical motion, comprising:

• a frame;
• a circular body having a substantially circular perimeter;
• a shank comprising:
• a first linear shank portion having a first end permanently fixed and firmly fitted to the frame thereby creating a single shank-frame component,
• a second linear shank portion having a first end permanently fixed and firmly fitted to the body at a right angle thereto thereby creating a single shank-body component, and
• a single non-actuated spherical joint coupling a second end of the first shank portion to a second end of the second shank portion;
• six traversable drives coupled to the frame, each traversable drive configured to move along the frame substantially parallel to the first linear shank portion;
• and
• six linear actuating arms, each of a fixed length, each actuating arm having a first end attached to a respective traversable drive and a second end coupled to the body at a respective point around the circular perimeter,
• wherein a first end of the second linear shank portion is fixed and firmly fitted at a center of the substantially circular body, and
• wherein a length of the first linear shank portion is longer than a radius of the substantially circular body.