The aim of this thesis consists in the design of a pointing mechanism for a High gain antenna used for a lunar-terrestrial telecommunication satellite constellation. The pointing structure is based on the Canfield joint mechanism since the antenna needs to point in any direction over a hemisphere, and at the same time present a compact stowed configuration. This system will allow small satellites, like microsatellites, to have additional Degree of freedom (DOF) to handle complex missions previously manageable just by big satellites. The main focus is to design a platform manipulator compact, cheap to produce, reliably able to guarantee the pointing characteristics, and easily mass-produced for constellation purposes.