Abstract: Focusing on the crucial problem in RAD(Robotic Assembly Design) and RAP(Robot Assembly Planning),this paper presents an integrated frame of RAD and RAP through analyzing generic process of real product design and assembly planning. Then the specifications are given that describe the function of every model and how to get it. It has been applied in engineering application,a typical application is that they take product,fixture and assembly-tool as one object to design or make assembly planning,which prove its effectiveness and usefulness.