Paths : the Case of Multiple Translations Dan

We consider the following problem that arises in assembly planning: given an assembly, identify a sub-assembly that can be removed as a rigid object without disturbing the rest of the assembly. This is the assembly partitioning problem. Speciically, we consider planar assemblies of simple polygons and sub-assembly removal paths consisting of a single nite translation followed by a translation to innnity. Such paths are typical of the capabilities of simple actuators in xed automation and other high-volume assembly machines. We present a polynomial-time algorithm to identify such a subassembly and removal path. We discuss extending the algorithm to 3D, other types of motions typical in non-robotic automated assembly, and motions consisting of more than two translations.