digital-brain/content/zettels/cubic_architecture.md

+++
title = "Cubic Architecture"
author = ["Dehaeze Thomas"]
draft = false
+++

Tags
:


## Description of the Cubic Architecture {#description-of-the-cubic-architecture}


## Special Properties {#special-properties}

Cubic Stewart Platforms can be decoupled provided that (from (<a href="#citeproc_bib_item_1">Chen and McInroy 2000</a>))

> 1.  The payload mass-inertia matrix is diagonal
> 2.  If a mutually orthogonal geometry has been selected, the payload's center of mass must coincide with the center of the cube formed by the orthogonal struts.


## Bibliography {#bibliography}

<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
  <div class="csl-entry"><a id="citeproc_bib_item_1"></a>Chen, Yixin, and J.E. McInroy. 2000. “Identification and Decoupling Control of Flexure Jointed Hexapods.” In <i>Proceedings 2000 Icra. Millennium Conference. Ieee International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00ch37065)</i>, nil. doi:<a href="https://doi.org/10.1109/robot.2000.844878">10.1109/robot.2000.844878</a>.</div>
</div>
Add content folder 2020-04-20 18:58:10 +02:00			`+++`
			`title = "Cubic Architecture"`
Update Content - 2022-03-15 2022-03-15 16:40:48 +01:00			`author = ["Dehaeze Thomas"]`
Add content folder 2020-04-20 18:58:10 +02:00			`draft = false`
			`+++`

			`Tags`
			`:`

Update many posts 2020-06-03 22:43:54 +02:00
			`## Description of the Cubic Architecture {#description-of-the-cubic-architecture}`


			`## Special Properties {#special-properties}`

Update Content - 2022-03-15 2022-03-15 16:40:48 +01:00			`Cubic Stewart Platforms can be decoupled provided that (from (<a href="#citeproc_bib_item_1">Chen and McInroy 2000</a>))`
Update many posts 2020-06-03 22:43:54 +02:00
			`> 1. The payload mass-inertia matrix is diagonal`
			`> 2. If a mutually orthogonal geometry has been selected, the payload's center of mass must coincide with the center of the cube formed by the orthogonal struts.`

Re-export all org mode files 2020-08-17 21:59:26 +02:00
			`## Bibliography {#bibliography}`

Update Content - 2022-03-15 2022-03-15 16:40:48 +01:00			`<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">`
			`<div class="csl-entry"><a id="citeproc_bib_item_1"></a>Chen, Yixin, and J.E. McInroy. 2000. “Identification and Decoupling Control of Flexure Jointed Hexapods.” In <i>Proceedings 2000 Icra. Millennium Conference. Ieee International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00ch37065)</i>, nil. doi:<a href="https://doi.org/10.1109/robot.2000.844878">10.1109/robot.2000.844878</a>.</div>`
			`</div>`