This article presents the concept of a robotic system for aliquoting of biomaterial, consisting of a serial manipulator in combination with a parallel Delta-like robot. The paper describes a mathematical formulation for approximating the geometric constraints of the parallel robot as a set of solutions to a system of nonlinear inequalities. The analysis of the workspace is carried out, taking into account singularity zones, using a method based on the analysis of the Jacobian matrix of the mechanism and the interference of links. An optimal design procedure is proposed for the dimensional synthesis based on a criterion for maximizing the volume of the workspace, taking into account the ambiguity of the solution of the inverse kinematics. Simulation results are reported and discussed to propose a suitable design solution.

One of the problems in the development of multi-robotic systems is the safe navigation of a group of robots. To solve it, the restrictions imposed by the structural elements of its agents are determined. The article presents a multi-robotic system consisting of parallel and serial robots installed on mobile platforms. The parallel robot is made based on a tripod with the ability to rotate the robot’s base relative to the horizontal axis. The analysis of its working and technological area is carried out, taking into account singularity zones. The developed algorithms for determining the workspaces are based on deterministic methods for approximating the set of solutions to systems of nonlinear inequalities. In this case, restrictions in spaces of different coordinates are presented in the form of n-dimensional boxes. Approaches to solving two problems are proposed to determine the possible intersection of links for the collaborative performance of tasks by a multi-robotic system. The first task is to determine the intersection of the links for the given positions and the relative position of the manipulators. The second is in determining the minimum distance between the technological areas of manipulators, which consist of the workspace and all possible positions of the intermediate links.

The quality of the diagnostic information obtained in the course of laboratory studies depends on the accuracy of compliance with the regulations for the necessary work. The process of aliquoting blood serum requires immersing the pipette to different depths depending on the boundary level between blood phases. A vision system can be used to determine this depth during automated aliquoting using various algorithms. As part of the work, two recognition algorithms are synthesized, one of which is based on the use of the HSV color palette, the other is based on the convolutional neural network. In the Python language, software systems have been developed that implement the ability of a vision system to recognize blood in test tubes. The developed methods are supposed to be used for aliquoting biosamples using a delta robot in a multirobotic system, which will increase the productivity of ongoing biomedical research through the use of new technical solutions and principles of intelligent robotics. The visualized results of the work of the considered programs are presented and a comparative analysis of the quality of recognition is carried out.