A general approach on collision-free workspace determination via triangle-to-triangle intersection test

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• 作者：Behzad Danaei^a ; Nima Karbasizadeh^a ; Mehdi Tale Masouleh^b ; ^{m.t.masouleh@ut.ac.ir}
• 关键词：Robotic mechanical systems ; Collision-free workspace determination ; Geometric constructive approach ; Triangle-to-triangle intersection test ; CAD model (Stereo lithography)
• 刊名：Robotics and Computer-Integrated Manufacturing
• 出版年：2017
• 出版时间：April 2017
• 年：2017
• 卷：44
• 期：Complete
• 页码：230-241
• 全文大小：6148 K
• 卷排序：44

文摘

A fast and improved approach for triangle-to-triangle intersection test is proposed. A general approach for obtaining the collision-free workspace—by considering mechanical interference, joint limits and obstacle—is proposed. An index is introduced which indicates the efficiency of the robots with respect to the workspace area (volume). The proposed approach provides insight into designing a well-conditioned workspace with respect to mechanical interference. Two case studies, namely, 3-RRR and Tripteron parallel mechanisms, are treated for which some insights are given for their optimal design and performance.