In addition to other things, a robot’s design also determines its singularity configurations and points in the workspace. In designing the robot’s working trajectory, one of the main issues of robot steering is avoiding singularities. The article proposes a different approach to calculating the inverse task, which lies in the random mapping of the robot mechanism’s workspace through searching for points closest in proximity to the trajectory in question. The new methodology of mapping and detecting the states of singularity in the workspace is actually based on Monte Carlo analysis, since we were also interested in the number of occurrences. In terms of mathematical analysis, this method is less demanding, because in searching for joint variables suitable for the given trajectory, it does not use inverse calculation. It is important that the method is chosen appropriately. The method is sufficiently illustrative in the form of a graph, making, e.g., programming optimization simpler. The ultimate effect is the reduced time needed for computing joint variables and the availability of an option to select a robot configuration suitable for carrying out the required work. The paper offers an example of an analysis concerning three different robots.

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.

This study describes the design of an experimental methodology developed to measure the working properties of the accuracy of the path traversed by a collaborative robot. The methodology proposed here uses a collaborative robot and a laser measuring system Gepard from Raytec. The main parts of the measuring chain and the ISO 9283 standard are described. The proposed experimental methodology should examine the working properties of industrial robots, such as position and path. The focus of this study lies in the path accuracy of robots. Currently, interest in this topic is on the rise, and the measuring systems capable of recording this parameter are too costly. This study focuses on the experimental measuring of the path properties, describing them in more detail. The measuring and results were processed in the software tool developed for Gepard.

This paper describes design of experimental methodology developed to measure the working properties of accuracy of the path traversed by a collaborative robot. The methodology proposed here uses a collaborative robot and a laser measuring system Gepard from Raytec. The main parts of the measuring chain and the ISO 9283 standard are described. The proposed experimental methodology should examine working properties of industrial robots, such as the properties of position and path. The focus of this paper lies on the path accuracy of robots. Currently, the interest in this topic is on the rise and the measuring systems capable of recording this parameter are too costly. This paper focuses on experimental measuring of the path properties, describing them in more detail. The measuring and results were processed in the software tool developed for Gepard.

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 article describes a procedure for enhancing computational accuracy in MATLAB’s Simulink and Simscape environments, as illustrated through specific example cases. It builds on earlier published by the authors’ team, which demonstrated the practical application of the Simscape Multibody tool—originally designed for dynamic and kinematic analyses—for making static computations in truss systems. Simscape Multibody serves as an effective platform for realistic and simplified simulations of mechanical components, incorporating various mechanical properties. Consequently, it is valuable in simulating mechatronic systems, where the integration of mechanics, electronics, control systems, and information technologies is essential. Multiple models were tested and analyzed across different scenarios to facilitate a comparative assessment of the results. The significance of this work lies in its achievement of highly accurate computational results without relying purely on theoretical calculations, with superior values in terms of accuracy. The primary objective was to provide a clear and practical description of a simple procedure for improving computational accuracy, based on scaling.