That could be a possibly complex tool depending on the conditions for positioning. ( multiple joints be positioned at once? non-destructive move joint tool positioning? alignment/orientation of joint to the components normal averge as well as positioning? chain's child positioning assumptions? etc... ) If simplest…
If the components are deformable, you could select them, Create Deformers > Cluster, then with vertex snap on, snap the joint to the cluster, then delete the cluster.