Before revision:  This paper deals with the following separability problem in 3D space: Given a rigid polyhedron P with n vertices , does a semi-rigid polyhedron G exist, such that both polyhedra can be transformed into an inseparable assembled state, where the fixture snaps on to P, by applying a linear force and exploiting the mild flexibility of G? If such a flexible snapping polyhedron exists, devise an efficient and robust algorithm that constructs it.
After revision: Fixtures for constraining the movement of parts have been extensively investigated in robotics, since they are essential for using robots in automated manufacturing. This paper deals with the following separability problem in 3D space: Given a rigid polyhedron P with n vertices , does a semi-rigid polyhedron G exist, such that both polyhedra can be transformed into an inseparable assembled state, where the fixture snaps on to P, by applying a linear force and exploiting the mild flexibility of G? If such a flexible snapping polyhedron exists, devise an efficient and robust algorithm that constructs it.