“…For example, the component pick-and-place time of turret-type SMD placement machines (see, e.g. Gupta 1996a, b, 1997;Ellis et al 2001;Ho and Ji 2003) is determined by the maximum time taken between the turret rotational time (a type of placement head), PCB travelling time and feeder carrier travelling time. Whereas, for the multi-head placement machines that has a stationary feeder carrier, a fixed PCB table and a positioning arm head that is equipped with few pipettes (Altinkemer, Kazaz, Koksalan and Moskowitz 2000;Jeevan et al 2002), the component pick-and-place time is determined by the many other factors such as the grouping of PCB points (also referred to as placement points) to a sub-tour, nozzle assignment, gang-pickups and simultaneous vision.…”