Workspace Computation of Parallel Manipulators Using 2k-Trees with Collision Detection

摘要

This paper presents the integration of a fast collision detection algorithm into a 2~k-tree for the workspace computation of parallel manipulators of dimension k ≤ 6. The implementation of 2~k-trees in C++ using the Standard Template Library is presented together with the fast collision detection algorithm using convex polyhedra and boundary volume hierarchy. As an example, the workspace of several 3-RRR manipulators is studied with respect to different links angles. It is shown that the actual workspace (i.e. the one without link collisions) is quite different than the theoretical workspace (i.e. the one which neglect link collisions).