Multi-link spherical joint with collocated centers of rotation

Abstract

A joint includes a shell that is hollow and at least partially spherical. The shell includes a plurality of shell rail sections including a first shell rail section. The first shell rail section includes a portion of an outer surface of the shell, a portion of an inner surface of the shell, and an opening edge section that defines a shell opening. The joint also includes a plurality of rotatable members including a first rotatable member. The first rotatable member includes an outer cup positioned at least partially outside of the shell and having an outer track surface, and an inner cup positioned at least partially inside of the shell and having an inner track surface. The first shell rail section is positioned at least partially between the outer and inner track surfaces.