Stability check and reorientation of subassemblies in assembly planning

Most assembly planning systems first search for a disassembly sequence by identifying a part or subassembly to be removed recursively, and then generate an assembly sequence by reversing the disassembly sequence. To identify a part or subassembly to be removed, some of them verify whether the part or subassembly can be removed without any interference. However it is computationally very expensive. The authors propose a method that has the advantage of reducing the verification times. This method selects the candidates for the parts and subassemblies to be removed prior to the verifications, by checking the stability of them. This method also uses a genetic algorithm and heuristics to select the expedient candidates.