Development and Validation of a Canfield Joint as a Precision-Pointing System for Deep Space Instrumentation

A mission plan for an integrated radio and optical communications payload, based on the Mars Reconnaissance Orbiter, is presented with emphasis on the derivation of precision pointing requirements. The Canfield joint, a parallel robotic linkage capable of hemispherical pointing, is discussed as a platform for optical communication and other deep space instrumentation. The capabilities of a prototype are compared to those of currently available gimbals qualified for deep space, and the advantages of the Canfield joint, including size, weight, and power savings, cable handling, and mechanical redundancy, are discussed. Validation procedures and results for the space hardware prototype are presented. This work was undertaken through the Integrated Radio and Optical Communication Project at NASA Glenn Research Center.