## 7 Simulation Procedure
\begin{table}
\begin{tabular}{l l l l} \hline
**Super-Ordinate** & **Task Components, Operations, and Plans** & **Timelines** & **Notes** \\ \hline \multirow{6}{*}{0} & Assembly of the brake disc on the assembly & \multirow{2}{*}{-} & \multirow{2}{*}{This is a collaborative job between} \\  & station; Plan 0. Do 1, 2, and 3, then exit. & & \\ \cline{2-3}  & 1. Assemble the dust protection plate on the assembly station & 1. 0–91 s & human and robot to assemble the brake disc assembly on the assembly station. \\ \cline{2-3}  & 2. Insert hub and change the robot tool tips & 2. 92–122 s & \\ \cline{2-3}  & 3. Assemble the brake disc on the assembly station & 3. 123–203 s & \\ \hline \multirow{6}{*}{1} & Assembly the dust protection plate on the assembly station; Plan 1. Do 1.1, 1.2, 13, & & \\  & then 14, and 1.5 three times, then 1.6, 1.7, & & \\  & and 1.8 three times, then 1.9, and exit. & & \\ \cline{2-3}  & 1.1. Take the dust protection plate on the assembly station & 1. 0–13 s & pushes the button to enter the work area, then takes three M\& screws from the screw kit and positions them on the dust protection. \\ \cline{2-3}  & 1.2. Position the dust protection on the assembly station & 1. 2. 14–30 s & \\ \cline{2-3}  & 1.3. Ask to enter the work station & 1. 3. 31–35 s & dust protection. The operator asks to exit from the work station and releases the button to authorize the robot to continue the assembly job. The robot goes to the proper position on the assembly station; the operator having finished screwing, the robot returns to the home position. \\ \cline{2-3}  & 1.4. Take three M\& type screws from the screw kit & 1. 4. 36–38 s & \\ \cline{2-3}  & 1.5. Position the M\& screws on the dust protection & 1. 5. 39–47 s & continue the assembly job. The robot goes to the proper position on the assembly area for screwing, and after having finished screwing, the robot returns to the home position. \\ \cline{2-3}  & 1.6. Ask to exit from the work station & 1. 6. 48–50 s & goes to the proper position on the assembly area for screwing, and after having finished screwing, the robot returns to the home position. \\ \cline{2-3}  & 1.7. Prepare for screwing & 1. 7. 51–54 s & having finished screwing, the robot returns to the home position. \\ \cline{2-3}  & 1.8. Tighten the M\& screws & 1. 8. 55–86 s & returns to the home position. \\ \cline{2-3}  & 1.9. Go back to the Home Position & 1. 9. 87–91 s & \\ \hline \multirow{6}{*}{2} & Insert the hub and change the robot tool & \multirow{6}{*}{-} & \multirow{6}{*}{-} & The operator asks to enter the work area, and pushes the button to alarm the robot. The operator takes out the tip 1 from the gripper and puts it in the tip kit, then takes the tip 2 and positions it on the gripper. The operator positions the hub on the dust protection plate. Then, the operator exits the area and releases the button. \\ \cline{2-3}  & 2.1. Ask to enter the work station & 2. 1. 92–95 s & 1 from the gripper and puts it in the tip kit, then takes the tip 2 and positions it on the gripper. The operator positions the hub on the dust protection plate. Then, the operator exits the area and releases the button. \\ \cline{2-3}  & 2.2. Change the tip 1 & 2. 2. 96–98 s & kit, then takes the tip 2 and positions it on the gripper. The operator positions the hub on the dust protection plate. Then, the operator exits the area and releases the button. \\ \cline{2-3}  & 2.3. Take the tip 2 & 2. 3. 99–101 s & \\ \cline{2-3}  & 2.4. Position the tip 2 on the gripper & 2. 4. 102–108 s & Then, the operator exits the area and releases the button. \\ \cline{2-3}  & 2.5. Take the hub & 2. 5. 109–110 s & \\ \cline{2-3}  & 2.6. Position the hub on the dust protection plate & 2. 6. 11–119 s & \\ \cline{2-3}  & 2.7. Ask to exit from the work station & 2. 7. 120–122 s & \\ \hline \multirow{6}{*}{3} & Assembly the brake disc on the assembly station; Plan 3. Do 3.1, 3.2, 3, then do & & \\  & 3.4.3.5 two times, the 3.6 two times, then & & \\  & 3.7, 3.8 two times, then 3.9, and exit. & & \\ \cline{2-3}  & 3.1. Take the brake disc & 3. 1. 123–142 s & \\ \cline{2-3}  & 3.2. Position the brake disc on the assembly station & 3. 2. 143–150 s & \\ \cline{2-3}  & 3.3. Ask to enter the work station & 3. 3. 151–153 s & positions them on the brake disc in the assembly area, then goes out and releases the button. \\ \cline{2-3}  & 3.4. Take two M8 type screws & 3. 4. 154–167 s & releases the button. The robot goes to the assembly area and does the screwing, then the robot returns to the home position. \\ \cline{2-3}  & 3.5. Position the two M8 screws on the brake disc & 3. 1. 168–171 s & \\ \cline{2-3}  & 3.6. Ask to exit from the work station & 3. 6. 172–174 s & screwing, then the robot returns to the home position. \\ \cline{2-3}  & 3.7. Prepare for screwing & 3. 7. 175–181 s & \\ \cline{2-3}  & 3.8. Tighten the M8 screws & 3. 8. 182–198 s & \\ \cline{2-3}  & 3.9. Go back to the Home Position & 3. 9. 199–203 s & \\ \hline \end{tabular}
\end{table}