Assembly Sequence Planning Based on Hierarchical Model

Table 1

Objective function consideration in the existing ASP methods.

References	Objective for optimization
	Directional changes	Tool changes	Tool travel distance	Assembly force
[18–20]	√	√	√	×
[21–25]	√	×	×	×
[26–28]	√	√	×	×
[16, 29–31]	×	√	×	×