In　this　study,　we　take　the　spherical　helix　curve　as　the　given　trajectory　and　use　algebraic　methods　to　derive　the　motion　polynomial　of　the　spherical　helix　curve.　By　decomposing　the　motion　polynomial,　we　obtain　a　serial　chain　with　the　spherical　helix　curve　as　the　end　trajectory,　these　serial　chains　are　then　combined　to　form　a　new　single-loop　mechanism.　To　better　demonstrate　the　end　trajectory　of　the　single-loop　mechanism,　a　novel　7R　(revolute)　single-loop　mechanism　is　chosen　to　compute　the　forward　solution.　The　calculation　shows　that　the　7R　mechanism　has　one　degree　of　freedom,　and　its　end　trajectory　is　confirmed　to　be　a　spherical　helix　curve.　A　novel　gripper　is　then　created　by　using　the　7R　mechanism　as　a　unit　and　following　a　specific　networking　method.