32 lines
1.3 KiB
Markdown
32 lines
1.3 KiB
Markdown
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title = "Cubic Architecture"
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author = ["Thomas Dehaeze"]
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draft = false
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## Description of the Cubic Architecture {#description-of-the-cubic-architecture}
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## Special Properties {#special-properties}
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Cubic Stewart Platforms can be decoupled provided that (from ([Chen and McInroy 2000](#orgf50ffa1)))
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> 1. The payload mass-inertia matrix is diagonal
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> 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.
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## Bibliography {#bibliography}
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<a id="orgf50ffa1"></a>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)_, nil. <https://doi.org/10.1109/robot.2000.844878>.
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## Backlinks {#backlinks}
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- [Simultaneous, fault-tolerant vibration isolation and pointing control of flexure jointed hexapods]({{< relref "li01_simul_fault_vibrat_isolat_point" >}})
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- [Dynamic modeling and decoupled control of a flexible stewart platform for vibration isolation]({{< relref "yang19_dynam_model_decoup_contr_flexib" >}})
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- [Sensors and control of a space-based six-axis vibration isolation system]({{< relref "hauge04_sensor_contr_space_based_six" >}})
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