These planners utilize CAD tools to automatically generate feasible assembly plans. Vertical Insertion refers to the action of vertically inserting one part into the appropriate position in a subassembly. Rotation is the action of picking up, rotating the subassembly through angle f and replacing it on to the horizontal surface. Therefore, beginning with 1 part and sequencing through m basic operations, the product can be assembled. No uncertainty in part position, orientation, and dimension.
Parts are rigid.
The reverse of a disassembly plan is a valid assembly plan. All parts and sub-assemblies are fully graspable Parts remain in place after mating. Therefore, by definition, Vertical Assembly plans are monotonic, linear, two-handed, and contact coherent. The geometric input to the Vertical Assembly Planner is a 2D slice of a 3D product which describes a total of n polygonal parts with v vertices. From this information, the VA planner constructs a database holding part-part relations.