  The sequence in which a complex product is assembled directly impacts the
ease and efficiency of the assembly process, whether executed by a human or a
robot. A sequence that gives the assembler the greatest freedom of movement is
therefore desirable. Our main contribution is an expression of obstruction
relationships between parts as a disassembly interference graph (DIG). We
validate this heuristic by developing a disassembly sequence planner that
partitions assemblies in a way that prioritizes access to parts, resulting in
plans that are comparable in efficiency to two state-of-the-art assembly
methods in terms of total plan length. Using DIG, our method generates
successive subassembly decompositions, yielding a tree structure that makes
parallization opportunities apparent. Our planner generates viable disassembly
plans by minimizing our part blockage measure, and thereby demonstrates that
this measure is a valuable addition to the Assembly Sequence Planning toolkit.
