  In this paper, we study movements of simple polygonal chains in 3D. We say
that an open, simple polygonal chain can be straightened if it can be
continuously reconfigured to a straight sequence of segments in such a manner
that both the length of each link and the simplicity of the chain are
maintained throughout the movement. The analogous concept for closed chains is
convexification: reconfiguration to a planar convex polygon. Chains that cannot
be straightened or convexified are called locked. While there are open chains
in 3D that are locked, we show that if an open chain has a simple orthogonal
projection onto some plane, it can be straightened. For closed chains, we show
that there are unknotted but locked closed chains, and we provide an algorithm
for convexifying a planar simple polygon in 3D. All our algorithms require only
O(n) basic ``moves'' and run in linear time.
