A complete algorithm for designing passive fences to orient parts

Jeff Wiegley*, Ken Goldberg, Mike Peshkin, Mike Brokowski

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

38 Scopus citations


Reviews Peshkin and Sanderson (1988) who showed that two dimensional parts can be aligned as they move on a conveyor belt against a passive sequence of fences. Describes the first complete algorithm to design such sequences for a given two dimensional convex polygonal part. The algorithm is complete in the sense that it is guaranteed to find a design if one exists and to terminate with a negative report otherwise. Based on an exact breadth-first search of the design space, the algorithm is also guaranteed to find the design requiring the fewest fences. Describes the algorithm and compares results with those previously reported. Conjectures that a fence design exists to orient any 2D convex polygonal part defined by a sequence of rational vertices.

Original languageEnglish (US)
Pages (from-to)129-136
Number of pages8
JournalAssembly Automation
Issue number2
StatePublished - 1997

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering


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