IEEE - Aerospace and Electronic Systems - July 2022 - 27
Collins et al.
FAILURE MODE
Figure 9.
Test apparatus. Image credit: Joe Beno.
Figure 5, required 12.6 kg of cable management components
[20]. In addition, the cage-like structure ofthe Canfield
joint design promises an increase in vibrational stability to
that of a gimbal, which reduces the requirements for isolation
systems. This performance capability in a lightweight
package creates an ideal solution for resource-constrained
platforms, such as small satellites and deep spacecraft.
In addition to the development and characterization of the
Canfield mechanism, the research team considered an investigation
into a particular failure mode where one of the three
joint drive mechanisms might fail, to determine the performance
implications on operating with only two remaining
drives. Hemispherical pointing requires only two-degrees of
freedom: azimuth and elevation. The Canfield joint has threedegrees
offreedom but is capable ofoperating with only two;
should one motor fail, a significant pointing range can still be
achievedwith the two remaining. Considering failure modes,
the Canfield joint provides a graceful degradation of
performance, and is capable of operating with only
two-degrees of freedom in the event of a drive, motor
failure or a joint locking up. In this mode, the mechanism
will not lose any pointing resolution, and thus
will continue to support mission success. The operational
FOR will be reduced to below a hemisphere,
and the particular level of reduction will depend upon
the pose of the Canfield joint at the point of failure.
Kinematics analysis of this 2-DOF state is discussed
in [23]-[25], and is a subject of ongoing research [26].
PROTOTYPE EVALUATION
A prototype Canfield joint demonstrator for deep space
applications was constructed by Balcones Technologies,
Figure 10.
Offset test results. The top plots represent the laser trace on the surface of the plate-mounted quadrature detector in each of three offset tests.
The scale is adjusted to show the shape ofthe trace more clearly. As shown in the bottom plot oferror over time, the apparatus drove the error
to zero in each case.
JULY 2022
IEEE A&E SYSTEMS MAGAZINE
27
IEEE - Aerospace and Electronic Systems - July 2022
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