Disassembly planning based on precedence relations among assemblies

An algorithm is presented that is based on a representation method for products, which lets us show, intuitively, the hierarchical relationships among components and/or assemblies of the product. This paper presents an algorithm for establishing a partial non-destructive disassembly sequence of a product. The disassembly sequence can be obtained for a component as well as for a sub-assembly (group of different components). The disassembly sequence is obtained autonomously and automatically and can be used in a flexible manufacturing system.This work was funded by the Spanish CICYT project “Sistema Robotizado de Desensamblado Automático basado en Modelos y Visión Artificial” (TAP1999-0436)