Design methods have been improving with an increasing level of algorithmic support for some time. The most recent advances include generative design and various optimization methods. However, the automated design tools are often focused on a single stage of the design process, for example, kinematics design, mechanical topology, or drive selection. In this paper, we show the whole design process of a robotic manipulator in an automated workflow. The method consisted of two main parts: a genetic optimization of the kinematic structure and an iterative automated CAD design. The method was then applied to a case study in which a manipulator with five degrees of freedom for a handling task was designed.

This article describes the construction of the 3D laser range finder (LRF) for the coal mine robot. The construction is based on our practical experiences with previous indoor 3D LRF design. The coal mine environment is very dirty. It is necessary to keep in mind this heavy working condition during the whole design process. The process of design started with definition of requirements. This specification is followed by selection of suitable parts and the dynamic analysis of a selected actuator. The suitable housing was designed for spatially arranged internal parts and by the Rapid Prototyping method was made the fully functional 3D LRF prototype. Finally are presented results from the 3D LRF testing conducted in the real underground environment.

This paper presents the general framework of the problem and the basis for the proposed idea, which lies in the design of a new extrusion nozzle for fused-deposition 3D printing, featuring a variable orifice that enables adaptive extrusion control to improve printing properties such as material efficiency, printing speed, and localized control of mechanical properties. The working principle is controlled compression, via a linear actuator, of a silicone sleeve installed inside a metal jacket. Constrained by the metal jacket, the diameter of the silicone sleeve’s through-hole decreases with increasing compression. Three experiments were carried out to verify the functionality of the new nozzle design. The first two explored how the size of the nozzle orifice changes with movement of the linear actuator and the resulting silicone sleeve compression and decompression. In the third experiment, three sample parts were printed to demonstrate how the variable-orifice-size nozzle extruded PLA. The orifice diameter was set to $1.4$ mm for the first condition, $0.7$ mm for the second condition, and, in the third experiment, the first two conditions were combined. The orifice diameter was set to $1.4$ mm for the first half of the object and then abruptly reduced to $0.7$ mm for the second half. The prototype variable-orifice-size nozzle system demonstrated the potential of adaptive extrusion control for improved material efficiencies, faster printing times, and localized control of mechanical properties. However, it also revealed hysteresis of the silicone sleeve, a problem that must be addressed.