A gimbal is a device used to precisely control the orientation between two bodies. Conventional gimbals are designed as actuated Hooke’s couplings and are not generally able to support heavy loads. This paper provides the general theory and some construction details of a rigid three-degree-of-freedom, truss-type gimbal. This gimbal can be used to support and position antennae, telescopes and other heavy structures. The forward kinematic, inverse kinematic and workspace analyses are provided, and joint design details are discussed.