Automatic calculation method of the space required for mechanical components and assemblies to operate without colliding with surrounding components and parts, uses an iterative model solved using interval mathematics

摘要

Method involves generation and symbolic representation of forward kinematics and constraints of the bodies (Ki) and linkages (Jij) that make up an assembly (11). The method is based on iteration using a hierarchical sub-division of the linkage parameter space, whereby this is divided into the two correlating sub-spaces of the forward kinematics and the constraints. Testing is achieved using interval mathematics.