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The planning method is based on a comprehensive model of the used production resources, including their geometry, kinematic properties, and general characteristics. Different resource types can be included in the planning system. A genetic algorithm generates and optimizes possible layouts for a line. The optimization aims to minimize the line\u2019s area and the costs for assembling the line while simultaneously optimizing the resources\u2019 positioning to perform their tasks. The line\u2019s cycle time is considered as a boundary condition. For the evaluation of different layout alternatives, a multi-body simulation is performed. A parameter study is used to set the algorithm\u2019s parameters. Afterward, the algorithm is applied to three increasingly complex examples to validate and evaluate its functionality. 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