Abstract—Development on the design concept using Omni-Wheels to provide three degree-of-freedom (d.o.f) in a single spherical joint is presented in this paper. The purpose of this design is to provide the industrial robots that have limited movement flexibility with additional d.o.f in order to carry tasks that require complicated trajectories. In addition, this compact single joint will be installed as an end-effector, therefore there is no need to modify the structure of the industrial robot or to install additional links. Beside the theory and design concept, a model and prototype are created to study the feasibility of such an approach.