We present a hardware architecture for a single-chip acceleration of an efficient hierarchical collision detection algorithm as well as simulation results for collision queries using this architecture. The architecture consists of two main stages, one for traversing simultaneously a hierarchy of discretely oriented polytopes, and one for intersecting triangles. Within each stage, the architecture is deeply pipelined and parallelized. For the first stage, we compare and evaluate different traversal schemes for bounding volume hierarchies.A simulation in VHDL shows that a hardware implementation can offer a speed-up over a software implementation by orders of magnitude. Thus, real-time collision detection of complex objects at rates required by force-feedback and physically-based simulations can be achieved.