The article presents the design and application of multi-software platform for solving kinematic synthesis of robot manipulator systems. It also presents a modern theoretical and application approach for modelling coupled mechanical systems, which include mobile robots. Due to high requirements for accuracy, efficiency, reliability and life cycle of technical equipment, several parameters ensuring optimal operating parameters need to be taken into account while dealing with the design. This is the reason for linking computational models to optimization algorithms that allows us to find the appropriate design parameters of analysed mechanical system, mechanisms, including mobile robots mostly by iterative way. The commercial working interface of the program ADAMS and open architecture of MATLAB programming language enable to share common data while dealing with model simulations in parallel. Both of them were used while designing and implementing the algorithm for the evaluation and optimization of parameters of technical equipment from the point of view of selected properties. While working on the task of the spatial mechanism of the six-member robot manipulator system, the algorithm solving the optimal parameters was created by applying the selected optimization techniques of the program MATLAB. Presented algorithm involves the creation of a map operating positions, which is further linked to the solution of the motion of interest points in the robotic system following a prescribed trajectory. This requires the geometry optimization of the selected members of the spatial robotic system in order to achieve such parameters so that the trajectory of the interest point of the output member would precisely match with the prescribed trajectory. It is important to note that these types of tasks create wider space for solving the assignments dealing with the development and application of technical equipment like mobile robots and their outputs that are linked to the needs of the practice.

The article deals with the research of the supplementation of industrial robot effector trajectory’s control systems by an inertial navigation system. The method of reverse validation and location of an object in a navigated reference system does not require additional calibration. The goal of the research is to verify the assumption that it is possible to control and correct the programmed mobile robot trajectory by implementing an inertial navigation system even in a case when the inertial navigation system is used as the only trajectory control device. The data obtained are processed by the proposed and detailed application.

This paper introduces novel research into specific mechanical properties of composites produced by 3D printing using Continuous-Fiber Fabrication (CFF). Nylon (Onyx) was used as the composite base material, while carbon constituted the reinforcement element. The carbon fiber embedment was varied in selected components taking values of 0°, 45°, 90°, and 135° for parts undergoing tensile testing, while one specific part type was produced combining all angles. Carbon-fiber-free components with 100% and 37% fillings were also produced for comparison purposes. Parts undergoing the Charpy impact test had the fibers deposited at angles of 0° and 90°, while one part type was also produced combining the four angles mentioned before. Carbon-fiber-free parts with 100% and 37% fillings were also produced for comparison purposes as with the first part. The Markforged MARK TWO 3D printer was used for printing the parts. These were subsequently scanned in the METROTOM 1500 computed tomography and submitted to the tensile and impact tests. The results showed that adding carbon fiber to the base material increased the volume of defects in the samples as a result of the porosity increase. Although the tensile testing manifested an overall increase in tensile strength Rm of up to 12 times compared to the sample without reinforcement, it was proven that an improper fiber orientation significantly diminished the strength and that combining the four selected angles did not lead to the highest strength values. Finally, the impact tests also showed that fiber-reinforced parts implied up to 2.7 times more work to fracture, and that an improved fiber orientation also led to strength reduction.

The paper presents the results of a numerical analysis of the stress-strain state of a rope strand with linear contact under tension and torsion loading conditions. Calculations are done using the ANSYS software package. Different approaches to calculation of the stress-strain state of ropes are...

Components produced by additive technology are implemented in various spheres of industry, such as automotive or aerospace. This manufacturing process can lead to making highly optimized parts. There is not enough information about the quality of the parts produced by additive technologies, especially those made from metal powder. The research in this article deals with the porosity of components produced by additive technologies. The components used for the research were manufactured by the selective laser melting (SLM) method. The shape of these components is the same as the shape used for the tensile test. The investigated parts were printed with orientation in two directions, Z and XZ with respect to the machine platform. The printing strategy was “stripe”. The material used for printing of the parts was SS 316L-0407. The printing parameters were laser power of 200 W, scanning speed of 650 mm/s, and the thickness of the layer was 50 µm. A non-destructive method was used for the components’ porosity evaluation. The scanning was performed by CT machine METROTOM 1500. The radiation parameters used for getting 3D scans were voltage 180 kV, current 900 µA, detector resolution 1024 × 1024 px, voxel size 119.43 µm, number of projections 1050, and integration time 2000 ms. This entire measurement process responds to the computer aided quality (CAQ) technology. VG studio MAX 3.0 software was used to evaluate the obtained data. The porosity of the parts with Z and XZ orientation was also evaluated for parts’ thicknesses of 1, 2, and 3 mm, respectively. It has been proven by this experimental investigation that the printing direction of the part in the additive manufacturing process under question affects its porosity.

The paper deals with a progressive method of modification of cutting tools by drag finishing process. The subject of the research is the dependence of the drag finishing time on the size of the cutting edge radius. The milling tool - solid cemented carbide mill was made on a tool grinder REINECKER WZS 60. The cutting tool was drag finished on the OTEC DF-3 TOOLS drag finishing machine. The measurements of cutting edge radius was performed on two devices: 3D optical microscope ALICONA Infinite focus G5 and contour and surface measuring machine ZEISS SURFCOM 5000. The results of the measurements are evaluated at the end of the paper.