Assembly sequence planning by subassembly decomposition using blocking reduction

We present a disassembly sequence planner that partitions assemblies in a way that prioritizes access to parts, resulting in plans that are efficient to execute. Our main contribution is an expression of obstruction relationships between parts as a disassembly interference graph (DIG). Using this graph, our planner chooses subassemblies with respect to the accessibility of interior parts. Our method results in plans that are comparable to two state-of-the-art assembly methods. In some circumstances, our method performed better than those compared.