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

Collins, Kristina; Raible, Daniel; Burke, Laura M.

doi:10.1109/maes.2022.3159237

Cited by 1 publication

(3 citation statements)

References 16 publications

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“…• The base plate (distal plate) 3 is the triangular plate on the base (distal) half-joint and the plane containing it is called the base plane (distal plane). • The base hinges and distal hinges are the revolute joints on the base plate and distal plate.…”

Section: Model Construction and Conventionsmentioning

confidence: 99%

“…Each can be 2 The original prototype presented in [7] uses a universal joint which induces a slightly more restricted range of motion. 3 Many implementations place the hinges on the lateral midpoints of the triangular plates instead of the corners. Nevertheless, these hinges will form a triangle and it's these hinge triangles which we call the base/distal plates.…”

Section: Model Construction and Conventionsmentioning

confidence: 99%

“…The Canfield joint is a parallel robotic linkage with three degrees of freedom (DoF) [1]. Originally designed to mimic a wrist joint, it has been explored for deep space optical communications [2], [3] and other end effectors, including solar cells and thrusters.…”

Section: Introductionmentioning

confidence: 99%

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A Geometric Approach to the Kinematics of the Canfield Joint

Bueno¹,

Collins²,

Hylton³

et al. 2021

Preprint

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This paper details an accessible geometric derivation of the forward and inverse kinematics of a parallel robotic linkage known as the Canfield joint, which can be used for pointing applications. The original purpose of the Canfield joint was to serve as a human wrist replacement, and it can be utilized for other purposes such as the precision pointing and tracking of antennas, telescopes, and thrusters. We build upon previous analyses, and generalize them to include the situation where one of the three legs freezes; the kinematics are also substantially generalized beyond failure modes, detailed within. The core of this work states and clarifies the assumptions necessary to analyze this type of parallel robotic linkage. Specific guidance is included for engineering use cases.

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Section: Model Construction and Conventionsmentioning

confidence: 99%

Section: Model Construction and Conventionsmentioning

confidence: 99%