The paper describes the original robotic arm designed by our team kinematic design consisting of universal rotational modules (URM). The philosophy of modularity plays quite an important role when it comes to this mechanism since the individual modules will be the building blocks of the entire robotic arm. This is a serial kinematic chain with six degrees of freedom of unlimited rotation. It was modeled in three different environments to obtain the necessary visualizations, data, measurements, structural changes measurements and structural changes. In the environment of the CoppeliaSim Edu, it was constructed mainly to obtain the joints coordinates matching the description of a certain spatial trajectory with an option to test the software potential in future inverse task calculations. In Matlab, the model was constructed to check the mathematical equations in the area of kinematics, the model’s simulations of movements, and to test the numerical calculations of the inverse kinematics. Since the equipment at hand is subject to constant development, its model can also be found in SolidWorks. Thus, the model’s existence in those three environments has enabled us to compare the data and check the models’ structural designs. In Matlab and SolidWorks, we worked with the data imported on joints coordinates, necessitating overcoming certain problems related to calculations of the inverse kinematics. The objective was to compare the results, especially in terms of the position kinematics in Matlab and SolidWorks, provided the initial joint coordinate vector was the same.

Topology optimization is a dynamically developing area of industrial engineering. One of the optimization tasks is to create new part shapes, while maintaining the highest possible stiffness and reliability and minimizing weight. Thanks to computer technology and 3D printers, this path of development is becoming more and more topical. Two optimization conditions are often used in topology optimization. The first is to achieve the highest possible structure stiffness. The second is to reduce the total weight of the structure. These conditions do not have a direct effect on the number of elements in the resulting structure. This paper proposes a geometric method that modifies topological structures in terms of the number of truss elements but is not based on the optimization conditions. The method is based on natural patterns and further streamlines the optimization strategies used so far. The method’s efficiency is shown on an ideal Michell truss.

The article deals with the ongoing development of the universal rotary module URM 02. The high weight of the components from which the modules are assembled proved to be a significant problem. As well as the weight of the connecting parts that are needed to assemble the manipulator or robotic arm. Design changes have resulted in a reduction in weight compared to older generations of modules, but in order for the manipulator to function properly, further weight reduction is required. The article describes the procedure for lightening components by changing the material and the design changes that result from it. The original aluminium alloy was replaced by a continuous carbon fibres composite produced using CFR (Continuous Fiber Reinforcement) additive technology. Here you should describe the paper idea in short.

This paper compares deviations on cylindrical shapes between CAD models and parts created by additive manufacturing. These parts happen to have different dimensions than their CAD models and even counterparts designed with working precision of 3D printers do not fit together. These deviations ar...

The article deals with development of a new generation of a URM [Universal Rotation Module]. Current generation showed us deficiency in the design, which needed to be resolved in new generation. Overall, the current assembly is requiring many parts, which is increasing difficulty on a supply chain as well as increasing time for the overall assembly and disassembly. This is especially important, when the current generation is still in prototype phase, and often reassembly and testing is required. In this paper we are going to reduce the number of parts necessary to build new generation, as well as describe design changes for the new generation of the URM. For that we are going to use simulation as well as manufacturing some parts with FDM techniques. For simulation we will be looking at points with highest stress, overall factor of safety to look for material failure and deviation under load to achieve higher accuracy of positioning.