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.