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Folding Rulers Inside Triangles

Authors: [tex2html_wrap4200]M. van Kreveld, J. Snoeyink, S. Whitesides

Investigator username: sue

Category: perception

Subcategory: geometric algorithms

We study robot arms modeled as chains of equal length links hinged end to end and confined inside equilateral triangles. In particular, we study how complete foldability changes as a function of the ratio of the link length to the triangle side. As expected, small link chains can always be completely folded onto a single link, and large link chains can not, in general be completely folded. Surprisingly, this property alternates more than once with increasing link length.