Automated assembly in a CSG domain

A technique is presented which can take constructive solid geometry representations of two objects along with the relative position of the two objects corresponding to their mated position, and discover a path for extricating one object from the other. The reverse of this procedure forms an assembly sequence for the composite object. The collision-detection and search-strategy modules for this technique have been integrated into a disassembly engine. Its implementation on a Symbolics 3640 requires 2 to 7 minutes of CPU time to solve disassembly tasks involving up to 14 solid primitives.<<ETX>>

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