Abstract
A spherical mechanism is defined as the one in which each movable link rotates with respect to a common stationary point, any point on the link is confined to move in a spherical surface, and all spherical surfaces of the movement are concentric. In this paper the analysis of the movable spherical mechanism 4R is presented considering, besides the mobility of the link entering and exiting the mobility of the coupler link regarding the linkage entrance with regards to the linkage exit. From this analysis the conditions of mobility of the mechanism was derived and are presented in mobility diagrams and from the same analysis was obtained the conditions for global mobility that allow the identification in a simple way, the type of mobility that each link will have, with only the dimensions of the mechanism.
