Objects that cannot be taken apart with two hands

DOI10.1007/BF02574386MaRDI QIDQ1338963zbMATH OpenOpenAlexWikidataFDO

Authors Jack Snoeyink, Jorge Stolfi

Publication date 29 May 1995

Published in Discrete \& Computational Geometry (Search for Journal in Brave)

Full work available at URL https://eudml.org/doc/131337

zbMATH Keywords

arbitrary isometryconfigurationconvex objectsEuclidean 3-spacepoint setstetrahedrontranslation

Mathematics Subject Classification ID

Polyhedra and polytopes; regular figures, division of spaces (51M20) Convex sets in (3) dimensions (including convex surfaces) (52A15) Computer graphics; computational geometry (digital and algorithmic aspects) (68U05)

Review text

In the Euclidean plane any configuration of convex objects can be easily ``taken apart by translation with two hands. It has been conjectured that every configuration \(C\) of convex objects (bounded point sets) in Euclidean 3-space with disjoint interiors can be taken apart in the same sense: this is, some proper subsets of \(C\) can be translated to infinity without disturbing its complement. The authors show that this conjecture holds for five or fewer objects. Using symmetry groups they give a counterexample with six objects (tetrahedra). They finally extend the counterexample to a configuration (of 30 convex sticks) that cannot be taken apart with two hands using arbitrary isometries. These questions have applications in the fields of mechanical assembly planning, robotic manipulation, and computer graphics.

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• PLANAR POINT LOCATION REVISITED

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(13)

• On the complexity of assembly partitioning
• Objects that cannot be taken apart with two hands
• Interlocked open and closed linkages with few joints.
• On the complexity of one-shot translational separability.
• Assembly sequences for polyhedra
• Polyhedral Assembly Partitioning Using Maximally Covered Cells in Arrangements of Convex Polytopes
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• Intractability of assembly sequencing: unit disks in the plane
• Physically feasible decomposition of Engino{\circledR} toy models: a graph-theoretic approach
• Throwing a sofa through the window
• Optimal algorithms for separating a polyhedron from its single-part mold
• Partitioning a planar assembly into two connected parts is NP-complete
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