26 lines
903 B
Markdown
26 lines
903 B
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](#org2ea9cff)))
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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="org2ea9cff"></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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