The article deals with the design of a robotic workplace for laser engraving. The first part of the article describes the importance of introducing robotics to industry 4.0. Custom solutions work is devoted to the implementation of the six-axi...

This article discusses creating a methodology for the asymmetric measuring of values and processes of collision forces and pressures of the collaborative robot dependent on time. Furthermore, it verifies the usefulness of this methodology in practice by successfully performing the experimental measurement and verifying the possibility of using these results by analysing and stating the collaboration level for a robot of the given type. According to the suggested methodology, the measurement results are a specific output based on real measured data, which can be easily rated and can quickly determine the collaborative level of any robot. Measurements were aimed at determining the values of pressure and force with which the robot acts at certain speeds related to distance from the base. Due to the controlled symmetrical impact of the robot on the measuring device, the transfer of energy from the robot to the human body was guaranteed. In theoretical terms, this article primarily provides the assembly of the theoretical foundation of the collaborative environment between humans and robots, and a comprehensive overview of the possibilities of using the technical specification ISO/TS 15066:2016 when deploying a robot in collaboration with humans in a collaborative environment. This new information is highly valuable for both manufacturers and users of collaborative robots. The presented article analyses the possibilities of measuring collaboration and safety elements in cooperation with a robot. The most significant practical benefit is the presentation of a methodology for measuring robot collaboration and verifying its functionality by conducting experimental measurements of robot collaboration according to this methodology. The measurement was performed on a robot made by Universal Robots, model UR10. The measurement coordinates were stationed in a way to create a spatial measurement model. Boundary coordinates of the spatial model were as follows: [450; 200], [450; 500], [850; 200], and [850; 500]. Collisions were measured at 8 different speeds for each coordinate (20 mms⁻¹, 50 mms⁻¹, 100 mms⁻¹, 200 mms⁻¹, 250 mms⁻¹, 300 mms⁻¹, 350 mms⁻¹, and 400 mms⁻¹) to enable the observation of changes in accordance with speed. The measured values indicate a significant fact: the closer the collision is to the robot’s base, the higher the collision forces. An important aspect is that the measured values were only for speeds up to 400 mms⁻¹, which is a very low value for industrial use to meet the desired cycle time. It can be stated with absolute certainty that speed has the greatest impact on collision force values. The speed of the collaborative robot arm can therefore be considered a limiting factor for use in industrial applications with a requirement of a short cycle time. Focusing on the results of the measured values, it can be stated that a new finding is the correct design of robotic movements in relation to possible contact with humans is crucial. The result of the measurement according to the proposed methodology is a specific output of realistically measured data, which can be easily evaluated and the level of collaboration of any robot can be quickly determined. The measured data will also serve as a basis for further processing and preparation of new simulation software. It will be possible to use the intended software for detecting and predetermining the safe asymmetric movements of the collaborative robot already at the stage of production preparations, unlike the method of measuring force and pressure on robots which can be used until the time of implementation into production. In the future, this software may also allow users of collaborative robots to easily and quickly evaluate the robots specified.

The aim of this article is to carry out experimental measurements and evaluate the real possibility of practical usability of the proposed methodology for measuring forces and pressures of collaborative robots, which are one of the determining parameters for a safe collaborative workplace. In the article, research will be carried out on the measurement of forces and pressures of a collaborative robot before its deployment in a real application. Force and pressure values will be measured using appropriate measuring devices. The measured results will be compared with the ISO/TS 15066:2016 technical specification and then evaluated. Following the evaluation of the results, steps will be recommended to follow the collaborative method. The procedure of measuring the collaborative application for real use in practice will be evaluated.

The article describes the creation of a mathematical 3D model of the original hovercraft structure, which will be further used for research into modifying the shapes and materials of the structure to ensure better driving conditions. Proposals for new materials for individual parts of the hovercraft structure will be addressed in order to reduce the weight of the hovercraft and thereby ensure a higher possible speed of movement, reduce fuel consumption and ensure the necessary mechanical properties of individual segments. The mathematical model of the simplified hovercraft model was created in the Cradle and Adams simulation programs. The paper is presented by analyzing the hovercraft properties in order to obtain sets of advantages and disadvantages of the hovercraft. The following is a description of the creation of a geometric 3D model of the hovercraft, which is built using Autodesk Inventor. The article further describes the transformation of the 3D model into a simulation model that can be used for co-simulation of movement in the Adams and Cradle computer simulation systems. The simulations will be the first step towards modifying the structure of a real rescue UAV prototype with improved maneuverability, stability and the ability to traverse terrain with surfaces unsuitable for hovering. Hovercraft