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This approach is represented through two cases studies, namely a 3-R<jats:underline>P<\/jats:underline>R planar parallel mechanism and the so-called 6-DOF Gough\u2013Stewart platform. Three main features of the obstacle-free workspace are taken into account: mechanical stroke of actuators, collision between limbs and obstacles and limb interference. In this paper, a circle(planar case)\/spherical(spatial case) shaped obstacle is considered and its mechanical interference with limbs and edges of the end-effector is analyzed. It should be noted that considering a circle\/spherical shape would not degrade the generality of the problem, since any kind of obstacle could be replaced by its circumscribed circle\/sphere. Two illustrative examples are given to highlight the contributions of the paper.<\/jats:p>","DOI":"10.1017\/s0263574716000497","type":"journal-article","created":{"date-parts":[[2016,8,22]],"date-time":"2016-08-22T06:31:08Z","timestamp":1471847468000},"page":"1747-1760","source":"Crossref","is-referenced-by-count":25,"title":["Collision-free workspace of parallel mechanisms based on an interval analysis approach"],"prefix":"10.1017","volume":"35","author":[{"given":"MohammadHadi","family":"FarzanehKaloorazi","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mehdi Tale","family":"Masouleh","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"St\u00e9phane","family":"Caro","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2016,8,22]]},"reference":[{"key":"S0263574716000497_ref17","doi-asserted-by":"crossref","unstructured":"J. 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