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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
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. doi:10.1109/robot.2000.844878.