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content/zettels/cubic_architecture.md

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+title = "Cubic Architecture"
+author = ["Dehaeze Thomas"]
+draft = false
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+
+Tags
+:
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+## 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>. doi:<a href="https://doi.org/10.1109/robot.2000.844878">10.1109/robot.2000.844878</a>.</div>
+</div>