Abstract

This chapter proposes an interval-based approach, to obtain the collision-free workspace of planar parallel mechanisms. This approach is represented through an example for a 3-RPR planar parallel mechanism, but it can be extended to investigate the obstacle avoidance of higher degree of freedom and spatial mechanisms. Three main feature of the collision-free workspace is taken into account: mechanical stroke of actuators, interference of limbs with the obstacle and interference of end-effector with the obstacle. In this chapter a circle shaped obstacle is considered and its mechanical interference with limbs and edges of the end-effector is taken into account. The results are represented and ongoing works are mentioned.

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