Toward a Theory for Design of Kinematically Constrained Mechanical Assemblies. - Daniel E. Whitney; R. Mantripragada; J. D. Adams; Stephen J. Rhee (Int. J. Robotics Res., 1999)

Design-specific approach to design for assembly (DFA) for complex mechanical assemblies. - Thomas L. DeFazio; Stephen J. Rhee; Daniel E. Whitney (IEEE Trans. Robotics Autom., 1999)