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• W2531241621 abstract "This paper introduces a new general systematic approach using the so-called triangle-to-triangle intersection test in order to obtain the collision-free workspace of robotic mechanical systems. In this geometric constructive approach, a collision test will be performed, based on the STL file, for all possible configurations of the robot which leads to obtain the collision-free workspace. By introducing a bounding sphere, the obtained results from the proposed algorithm reveal that the computational time on average is 0.0490μs per test which is reduced by 23% comparing to one of the recent algorithm proposed in the literature. Furthermore, the collision-free workspace determination approach provides a statistical data about the percentage of collision for each constituting part of the mechanism. By resorting to the latter statistical data, an index for collision-free workspace is introduced which provides some insights into designing a well-conditioned workspace in terms of mechanical interference. The approach is implemented on two cases studies, namely 3-RRR and the so-called Tripteron parallel mechanisms." @default.
• W2531241621 created "2016-10-21" @default.
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• W2531241621 date "2017-04-01" @default.
• W2531241621 modified "2023-10-10" @default.
• W2531241621 title "A general approach on collision-free workspace determination via triangle-to-triangle intersection test" @default.
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• W2531241621 doi "https://doi.org/10.1016/j.rcim.2016.08.013" @default.
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