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Locked and Unlocked Chains of Planar Shapes
We extend linkage unfolding results from the well-studied case of polygonal
linkages to the more general case of linkages of polygons. More precisely, we
consider chains of nonoverlapping rigid planar shapes (Jordan regions) that are
hinged together sequentially at rotatable joints. Our goal is to characterize
the families of planar shapes that admit locked chains, where some
configurations cannot be reached by continuous reconfiguration without
self-intersection, and which families of planar shapes guarantee universal
foldability, where every chain is guaranteed to have a connected configuration
space. Previously, only obtuse triangles were known to admit locked shapes, and
only line segments were known to guarantee universal foldability. We show that
a surprisingly general family of planar shapes, called slender adornments,
guarantees universal foldability: roughly, the distance from each edge along
the path along the boundary of the slender adornment to each hinge should be
monotone. In contrast, we show that isosceles triangles with any desired apex
angle less than 90 degrees admit locked chains, which is precisely the
threshold beyond which the inward-normal property no longer holds.Comment: 23 pages, 25 figures, Latex; full journal version with all proof
details. (Fixed crash-induced bugs in the abstract.
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