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1.1 KiB
+++ title = "Cubic Architecture" author = ["Dehaeze Thomas"] draft = false +++
Tags :
Description of the Cubic Architecture
Special Properties
Cubic Stewart Platforms can be decoupled provided that (from (Chen and McInroy 2000))
- The payload mass-inertia matrix is diagonal
- 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
<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style>Chen, Yixin, and J.E. McInroy. 2000. “Identification and Decoupling Control of Flexure Jointed Hexapods.” In Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065). doi:10.1109/robot.2000.844878.