Question 5.5: Use the Petri net to model the testbed for gearbox assembly ...

Use the Petri net to model the testbed for gearbox assembly in Fig. 5.31;
the testbed was developed at the National Institute of Standards and Technology (NIST) to evaluate the grasping capabilities of end-effectors (Falco et al. 2015; Kootbally et al. 2016). Aseries of operations are to (1) open a gearbox kit, (2) move around parts, and (3) assemble them together as a functional gearbox. The testbed consisted of robots A and B, vision systems A and B, force sensors, trays and the assembling platform. Note that opening the gearbox kit and place parts on the platform are done manually. robot A was equipped with a force sensor to assemble parts; while robot B was equipped with a vision system only to move and hold a part (Bi et al. 2020).