Fixturing hinged polygons
作者： Jae-Sook Cheong , K. Goldberg , M.H. Overmars , A.F. van der Stappen
DOI: 10.1109/ROBOT.2002.1013467
关键词: Computational geometry 、 First order 、 Structural engineering 、 Multiple edges 、 Combinatorics 、 Point (geometry) 、 Mathematics 、 Chain (algebraic topology)
摘要: We study the problem of fixturing a chain hinged objects in given placement with frictionless point contacts. define notions immobility and robust - which are comparable to second first order for single object capture intuitive requirement fixture objects. Robust differs from that it additionally requires insensitivity small perturbations show (p+2) contacts can immobilize any p/spl ne/3 polygons without parallel edges; six three such polygons. Any p arbitrary be immobilized at most (p+4) also /spl lceil/(6/5)(p+2)/spl rceil/ suffice robustly edges, lceil/(5/4)(p+2)/spl polygons, eight
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