Collision detection for 6-DOF parallel-link CMM

Generally, the parallel-link Coordinate Measuring Machine(CMM) has higher measuring accuracy and more flexible probe posture than the serial-link CMM. Therefore, theoretical and experimental research for the parallel-link CMM has become a hot topic for both industry and academia. In this paper, the virtual prototype of the 6-DOF parallel-link CMM was designed using the graphics functions in the OpenGL library. On the basis of above, a bounding box algorithm was developed to detect collision in the movement process, the detail method of the detection and the programming are also presented. This method improves not only the detection efficiency but also the reality of virtual prototype system.