Hi! If you are VBA or iLogic savvy, there might be ways to do that. The closest workflow out of box would be iMate. You will have to manually define iMate in each component document based on the specification listed in Excel. Then, make sure the hosting assembly has the corresponding iMate ready (unconsumed). Then, on placing the components to the assembly, they will be snapped to the desirable location with the specified transformation.
Another way to do that is to use UCS. You can create a parametric UCS in the component with the specified transformation. For example, if you want subassemblyA to be located (10mm, 5mm, 3mm) and rotated 45 deg around X-axis. There are two ways to accomplish this using UCS.
Option A: Create transformed UCS in the hosting assembly.
1) Open the hosting assembly.
2) Link the Excel table (assumed formated properly) to Parameters.
3) Create as many parametric UCS as the number of the subassemblies you need to insert.
4) Make sure each UCS' X, Y, Z, and roatation parameters are linked to the linked parameters.
5) Open each subassembly and create a UCS at origin.
6) Place the subassemblies.
7) Create UCS constraints between the transformed UCS and the subassembly UCS.
Option B: Create transformed UCS in the subassembly.
1) Open each subassembly to be inserted.
2) Create a UCS and make sure the X, Y, Z, and rotation parameters are opposite to the spec (-10mm, -5mm, -3mm with rotation of -45 deg around X).
3) Open the hosting assembly.
4) Create a UCS at origin
5) Place the subassembly and create UCS constraint between the transformed UCS in the subassembly and the origin UCS in the hosting assembly.
Let me know if more information is needed.
Thanks!