This paper established the spherical counterparts of Ting’s rotatability laws of planar linkages. Generally speaking, similar rotatability properties exist between a pair of adjoining links in planar and spherical linkages and the concept of invariant link rotatability is valid for spherical linkage only if it is referred to that between adjoining links. The established spherical rotatability criteria are also valid for single and multiple degree of freedom nR3C, nR2C1P, nR1C2P and nR3P spatial linkages.

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