Abstract: A plurality of main links and a plurality of connection links define a spherical joint. Each of the main links are adapted to couple to other bodies and are serially and pivotally connected by the plurality of connection links that extend between adjacent main links. Each connection link includes at least two connection segments, which are pivotally coupled together by a pivotal coupler that defines an axis of rotation. The axes of rotation defined by all of the couplers intersect at a common point about which the main links can move in spherical motion.