A process and apparatus generates a sequence of steps for assembly or disassembly of a mechanical system. Each step in the sequence is geometrically feasible, i.e., the part motions required are physically possible. Each step in the sequence is also constraint feasible, i.e., the step satisfies user-definable...http://www.google.es/patents/US5980084?utm_source=gb-gplus-sharePatente US5980084 - Method and apparatus for automated assembly
