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Abstract
The authors consider the following problem that arises in assembly planning: given an assembly, identify a subassembly that can be removed as a rigid object without disturbing the rest of the assembly. This is the assembly partitioning problem. Specifically, they consider planar assemblies of simple polygons and subassembly removal paths consisting of a single finite translation followed by a translation to infinity. They show that such a subassembly and removal path can be determined in O(n{sup 1.46}N{sup 6}) time, where n is the number of polygons in the assembly and N is the total number of edges and vertices of all the parts together. They then extend this formulation to removal paths consisting of a small number of finite translations, followed by a translation to infinity. In this case the algorithm runs in time polynomial in the number of parts, but exponential in the number of translations a path may contain.
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