The new schemes for the kinematics algorithm of traditional 3RPS and 3RPS with compound sphere joint were presented. The kinematics algorithm of traditional 3RPS was established by Quaternion,and the constraint equation of compound sphere joint was established by DH method based on Dual quaternion,and then the kinematics algorithm of 3RPS with compound sphere joint was gotten by replacing the constraint equation of spherical hinge with compound sphere joint. Compound sphere joint was determined by three revolving joints.The proposed method is applicable to any position and orientation of three revolving joints and can analyze systematic errors during manufacturing and calculating process. Examples were used to verify that this method can calculate fast with good reliability. The new schemes for the kinematics algorithm of traditional 3RPS and 3RPS with compound sphere joint were presented. The kinematics algorithm of traditional 3RPS was established by Quaternion, and the constraint equation of compound sphere joint was established by DH method based on Dual quaternion, and then the kinematics algorithm of 3RPS with compound sphere joint was gotten by replacing the constraint equation of spherical hinge with compound sphere joint. Compound sphere joint was determined by three revolving joints. The proposed method is applicable to any position and orientation of three revolving joints and can analyze systematic errors during manufacturing and calculating process. Examples were used to verify that this method can calculate fast with good reliability.