Efficiently Disassemble-and-Pack for Mechanism

In this paper, we present a disassemble-and-pack approach for a mechanism to seek a box which contains total mechanical parts with high space utilization. Its key feature is that mechanism contains not only geometric shapes but also internal motion structures which can be calculated to adjust geometric shapes of the mechanical parts. Our system consists of two steps: disassemble mechanical object into a group set and pack them within a box efficiently. The first step is to create a hierarchy of possible group set of parts which is generated by disconnecting the selected joints and adjust motion structures of parts in groups. The aim of this step is seeking total minimum volume of each group. The second step is to exploit the hierarchy based on breadth-first-search to obtain a group set. Every group in the set is inserted into specified box from maximum volume to minimum based on our packing strategy. Until an approximated result with satisfied efficiency is accepted, our approach finish exploiting the hierarchy.