Question: This exercise is intended to simulate a palletizing operation. The apparatus includes: six wooden (or plastic or metal) cylinders approximately 20 mm in diameter and 75 mm in length, and a 20-mm thick wooden block approximately 100 nun by 133 mm. The block is to have six holes of diameter 25 mm drilled in it as illustrated in Figure. The wooden cylinders represent workparts, and the wooden block represents a pallet. (As an alternative to the wooden block, the layout of the pallet can be sketched on a plain piece of paper attached to the work table.) The programming exercise is the following: Using the powered lead through programming method, program the robot to pick up the parts from a fixed position on the work table and place them into the six positions in the pallet. The fixed position on the table might be a stop point on a conveyor. (The student may have to manually place the parts at the position if a real conveyor is not available.)