Minimal Fixturing of Frictionless Assemblies: Complexity and Algorithms

@article{Baraff1997MinimalFO,
  title={Minimal Fixturing of Frictionless Assemblies: Complexity and Algorithms},
  author={David Baraff and Raju S. Mattikalli and Pradeep K. Khosla},
  journal={Algorithmica},
  year={1997},
  volume={19},
  pages={4-39}
}
In many assembly tasks it is necessary to ensure the stability of a subcollection of contacting objects. To achieve stability, it is often necessary to introduce fixture elements (also called ``fingers'' in some work) to help hold objects in place. In this paper the complexity of stabilizing multiple contacting bodies with the fewest number of fixture… CONTINUE READING