Maintainability is an important issue in design where the ac- cessibility of certain parts is determined for routine mainte- nance. In the past its study has been largely manual and labor intensive. Either by using physical mockup or computer animation with CAD models of a design, the task relies on hu- man to provide an access path for the part. In this paper, we present an automated approach to replace this manual pro- cess. By applying results from and developing extensions to research in motion planning and other fields, we demonstrate that an automated maintainability study system is feasible. We describe general extensions needed to adapt robotic mo- tion planning techniques in maintainability studies. We show results from applying such a system to two classes of industrial application problems.
International Conference on Robotics and Automation - ICRA , vol. 1, pp. 1012-1019