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This looks amazing, but it isn't 3 full degrees of freedom is it? I feel like there are some orientations that wouldn't be possible with this, but I am really not sure.

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The paper (Open Access!!!) https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=941... Says that I am wrong, and I am willing to trust their analysis.

Here:

https://www.researchgate.net/publication/351357682_ABENICS_A...

The retaining cusp does impose some restrictions.

Those aren't usually counted in enumerating the degrees of freedom of a robot arm unless it's a significant restriction.

You can make a spherical induction motor

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