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 moving platform (MP) using the Application Programming Interface (API) of a CAD software. The position of the MP is updated via the API in an automated manner over a set of samples within a shell enclosing the surface of the CFS. For each pose of the manipulator, each pair of legs is investigated for mutual collisions. The CFS is considered safe or validated iff none of the points falling inside the CFS lead to a collision between any pair of legs. This approach can not only validate the safety of a precomputed CFS, but also estimate the same for any spatial parallel manipulator.

翻译：本文提出一种方法，利用计算机辅助设计（CAD）软件的应用程序编程接口（API），针对6-6型Stewart-Gough平台机械臂（SGPM）在动平台（MP）给定姿态下的最大无碰撞球体（CFS）尺寸进行验证。通过API以自动化方式，在包围CFS表面的壳体采样点集内更新MP位置。针对机械臂的每个位姿，逐对检测支腿间的相互碰撞。当且仅当落入CFS内部的任意点均不会引发任何支腿对之间的碰撞时，该CFS被视为安全或通过验证。此方法不仅可验证预计算CFS的安全性，亦适用于任意空间并联机械臂的无碰撞球体估计。