Canfield Joint

It was invented by Dr. Stephen Canfield and is used for spacecraft thrusters and solar panels.
Grey motor controls blue platform via orange crank, yellow conrod, blue arm, pink and violet hinge, green arm. All the joints are revolute.
Orange crank, yellow conrod and blue arm create a parallelogram mechanism.
The platform can be directed toward a point moving in the upper hemisphere by programming motions of three orange cranks mounted on the motors.