Validation of collision-free spheres of Stewart-Gough platforms for constant orientations using the Application Programming Interface of a CAD software

Bibekananda Patra, Rajeevlochana G. Chittawadigi, Sandipan Bandyopadhyay

This paper presents a method of validation of the size of the largest collision-free sphere (CFS) of a 6-6 Stewart-Gough platform manipulator (SGPM) for a given orientation of its…