Starting in 1977, Geoff Boothroyd, supported by an NSF grant at the University of Massachusetts Amherst, developed the Design for Assembly method (DFA), which could be used to estimate the time for manual assembly of a product and the cost of assembling the product on an automatic assembly machine. Recognizing that the most important factor in reducing assembly costs was the minimization of the number of separate parts in a product, he introduced three simple criteria which could be used to determine theoretically whether any of the parts in the product could be eliminated or combined with other parts. These criteria, together with tables relating assembly time to various design factors influencing part grasping, orientation and insertion, could be used to estimate total assembly time and to rate the quality of a product design from an assembly viewpoint. For automatic assembly, tables of factors could be used to estimate the cost of automatic feeding and orienting and automatic insertion of the parts on an assembly machine.