Assembling Polyhedra with Single Translations

Abstract

The problem of partitioning an assembly of polyhedral objects into two subassemblies that can be separated arises in assembly planning. We describe an algorithm to compute the set of all translations separating two polyhedra with n vertices in 0(n) steps and show that this is optimal. Given an assembly of k polyhedra with a total of n vertices, an extension of this algorithm identifies a valid translation and removable subassembly in 0(k2n4) steps if one exists. Based on the second algorithm a polynomial time method for finding a complete assembly sequence consisting of single translations is derived. An implementation incorporates several changes to achieve better average-case performance; experimental results obtained for composite objects consisting of isothetic polyhedra are described. assembly planning, separation of polyhedra, manufacturing.

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Document Details

Document Type
Technical Report
Publication Date
Oct 01, 1991
Accession Number
ADA254623

Entities

People

  • Achim Schweikard
  • Randall H. Wilson

Organizations

  • Stanford University

Tags

Communities of Interest

  • Air Platforms

DTIC Thesaurus Topics

  • Algorithms
  • Assembly
  • Bits
  • Boundaries
  • Computations
  • Computer Science
  • Floating Point Operations
  • Grids
  • Manufacturing
  • Military Research
  • Motion Planning
  • Polygons
  • Polynomials
  • Sequences
  • Three Dimensional
  • Translations

Readers

  • Computational Linguistics
  • Operations Research
  • Software Engineering