This paper deals with the kinematic analysis of multimember mechanisms and robotic manipulators using MSC ADAMS simulation software. Attention is focused primarily on the analysis of trajectories, positions, velocities and accelerations of selected points of mechanisms, as well as the determination of the working space of manipulators. Analytical relationships and numerical calculations performed in the MATLAB environment were used to solve direct and inverse kinematics tasks, and the resulting trajectories were subsequently verified using simulations in MSC ADAMS. The results obtained confirm the suitability of integrating analytical methods and computer simulation for accurate analysis of the motion of mechanical systems, effective trajectory planning and visualisation of the behaviour of mechanisms in real operating conditions.

This paper presents a comprehensive kinematic analysis of a two-link SCARA-type manipulator, focusing on the trajectory planning of its end-effector along a circular path. Using the FANUC SR-3iA/U as a reference platform, both inverse and forward kinematics were analyzed, with MATLAB simulations performed to generate smooth motion profiles based on fifth-order polynomial interpolation. The results demonstrate the manipulator's capability to execute precise, continuous trajectories while operating within workspace constraints.

The article discusses the design and testing of a wireless sensor network utilizing multiple communication technologies to achieve low power consumption and extended transfer distances. The sensorial nodes gather data and send it to a central module, which provides a monitoring window. The sensor nodes are designed for educational purposes, enabling students to conduct training experiments focused on creating wireless monitoring systems for industrial and general applications.

This contribution focuses on solving the inverse and forward kinematics in the kinematic analysis of a two-link manipulator model. It involves determining the trajectory of the end effector through fifth-degree polynomial interpolation. Furthermore, given initial and final arm angle values, it computes not only the end effector trajectory but also the angular parameters of individual actuators in both arms. Additionally, it calculates the variations of angular parameters such as rotation angle, angular velocity, and angular acceleration in each kinematic pair. The direct kinematics task is utilized to define the manipulator's workspace. The task is carried out using Matlab software, and the results are presented in the form of graphs and tables.

The authors describe an Ethernet communication link between a superior PLC system and a selected (collaborative) robotic system. Part of the presented approach is the hardware and software implementation of the 2D camera system in an experimental automated workplace. Its emphasis is on experimental verification based on pick-and-place principles. It describes the design, development, and testing of selected communication. Another purpose is to point out the possibilities of image data processing from the obtained image using suitable software modules. The common principle of our approach is a unified solution that includes as many components as possible from one provider, which is often impossible. Moreover, the image processing process requires three specifically focused software modules (Threshold HSV, Pattern Match, and Spreadsheet). The task of these modules is to gradually find the desired object from the obtained image scene (based on the comparison of black and white pixels). Subsequently, it compares it with the database of objects and selects the one with the highest percentage match. Part of this process is also finding the center of gravity and orientation of the object. Finally, with appropriate mathematical operations, it transforms the obtained coordination coordinates into a suitable length in such a way that the control system of the robotic arm can read it and implement the required application.

In this paper, the possibilities of modelling a quarter model of a car as it passes over an obstacle are presented.The Laplace transform was first used to solve the differential equations that describe this dynamic action.As the next option the solution of the derived differential equations is using Matlab/Simulink and finally the results were verified using a model that was created in the Matlab/Simulink/Simscape environment.

This article explores the kinematic analysis of the component movements within a robotic mechanism, focusing specifically on joint movements as the “end effector” traverses a circular trajectory. The primary aim is to introduce a methodology for performing a comprehensive kinematic analysis of the robot's open kinematic chain. The end effector's path within the multi-link manipulator model is defined using a 5th-degree polynomial, creating a circular trajectory. Calculations involve determining the angular displacement, angular velocity, and angular acceleration as the effector progresses along the circle. Furthermore, all six kinematic relationships are defined with respect to time and interdependence. The shape of the workspace is derived under varying angular constraints alongside the outlined trajectory of the end effector. When the arm reaches maximum extension, the patterns of angular rotation, angular velocity, and angular acceleration are specified. Matlab software is used to obtain and analyze these results.

The paper presents the results of research on the evaluation of the quality of coating layers made by a laser. The base material, which was Dievar steel (1.2343), was coated with a single layer using additional materials in the form of a wire with a diameter of ø 1.0 mm. As additional material, wires with chemistry corresponding to steels 1.2343 and 1.6356 were used. The primary objective was to verify the possibilities of innovative use of additive materials based on maraging steels, which were chosen from the production of two manufacturers with slightly different chemical compositions. The experiment verified the influence of the cladding parameters on the residual stress values around the fabricated maraging layers. Metallographic analysis by light microscopy was carried out in order to identify the individual structures as well as to assess the occurrence of internal defects in the coatings. The effect of the mixing of the coating metal with the base material was also assessed by means of a low-load hardness assessment, which was carried out in accordance with EN ISO 4063-2. Based on the results, it can be concluded that, in terms of residual stresses, the measured values were approximately the same for all the additive materials used; however, due to the desired mechanical properties of the additively formed layers, it is possible to recommend additive materials based on medium- and high-alloy steels for additive manufacturing.

The article deals with the creation of an IoT system based on the Hardwario platform. In the first part, the options for signal transmission were analyzed. The selected and tested system utilizes radio frequency signal propagation at 868 MHz. Signal quality was tested in indoor and outdoor conditions, where the reliability of the proposed solution was verified. Systems built on the proposed solution can be used for remote monitoring of desired parameters on a sufficiently large area.

The article focuses on implementing, testing, and verifying the systematic approach between two effective systems (collaborative robot and 2D camera scanner). The main idea of this approach is to set the suitable parameterization of participating devices (at the collaborative workplace) into one functional solution-based Ethernet communication. Furthermore, part of the article aims to design the communication and interconnection-based secure protocol CC-Link IE Field Basic. Finally, article results were used at the existing automated workplace to prove the robustness and performance of the process. Thanks to the built-in functions of the 2D camera system, were successfully find the searched objects (with the most intensity) at the working scene, followed by its proper sorting and grasping.

This paper deals with the kinematic and dynamic analysis of a two-element robot model. We have solved the problem using inverse kinematics. The result is the plotted trajectory of the robot's end point along defined points of the robot's workspace. The angular quantities computed are the rotation angle, angular velocity and angular acceleration in each kinematic pair. Furthermore, an inverse dynamics problem is solved. The moments in the kinematic pairs are computed. Subsequently, using the direct dynamics problem, the correctness of the obtained solution is confirmed. The programs designed for the simulation of dynamical systems - Matlab/Simulink and SimMechanics - were used in the solution. The results are presented in the form of graphs and tables.

The article deals with the creation of an IoT system based on the Hardwario platform. In the first part, the options for signal transmission were analyzed. The selected and tested system utilizes radio frequency signal propagation at 868 MHz. Signal quality was tested in indoor and outdoor conditions, where the reliability of the proposed solution was verified. Systems built on the proposed solution can be used for remote monitoring of desired parameters on a sufficiently large area.

Abstract Residual stress measurement in different sorts of mechanical and mechatronic objects has become an important part of the designing process and following maintenance. Therefore, a sufficient experimental method could significantly increase the accuracy and reliability of the evaluation process. Ring-Core method is a well-known semi-destructive method, yet it is still not standardized. This work tries to improve the evaluation process of the Ring-Core method by analyzing the influence of the necessary geometric parameters of the investigated object. Subsequently, residual stress computation accuracy is increased by proposed recommendations.

Residual stresses significantly affect the overall lifetime of constructions. The main disadvantage of residual stresses is that their effect and magnitude is not evident at first sight and can only be reliably determined using experimental methods. The experiment aimed to find out how much the cladding technology affects the residual stresses within the renovation of high pressure die casting molds. A total of four samples were prepared by different cladding techniques and with varying thicknesses of the result layer. The samples were then annealed and mechanically treated. Finally, the hole drilling method was applied to determine the residual stresses in the samples. The results point to more significant differences in the levels of residual stresses, which were determined in the subsurface layers.

Although some authors realized various measurement techniques and relevant standards in the experimental verification, the existing contributions still did not mention more complex automated workplaces with industrial robotic arm participation. To solve this, we provide a different view of the interconnection between individual devices (positioner, robot, etc.) controlled by third-party methods (Siemens products). Also, to obtain the necessary effectiveness, we tested and verified selected accuracy parameters for the participating device component (positioner). The proposed work tries to fulfill expectations for a precise welding technology (to ensure simultaneous movements of both the industrial robotic arm and positioner) to achieve higher quality and productivity. However, the components are from different manufacturers.

The presented paper describes the creation of a “low-cost” monitoring security system based on the IoT platform connecting to the cloud. We focused on heat exchanger station, which is used in a block of flats. A simulation solution was devel-oped together with 3D visualization and a practical test. Final monitoring system informed the operator about the current state of the heat exchanger station and operator can intervene in time so that heat exchanger station is not suddenly damaged or cause some damage. Such monitoring system will find application in practice, but also in the teaching process, as the preparation of graduates for the modern monitoring systems, which are increasingly used in practice, will be improved. The presented paper is a scientific and methodological publication.

The presented paper describes the creation of a monitoring system based on the IoT platform, designed to monitor the parameters of an electric motor. Based on the obtained data, the operator is informed about the current state of the electric motor and can intervene in time so that it is not suddenly damaged or destroyed. In the next phase of the research, a model of predictive maintenance will be processed based on the obtained data. As a result, the operator will not have to estimate the condition of the electric motor, but the system itself will suggest appropriate measures. Such a system will find application in practice, but also in the teaching process, as the preparation of graduates for the modern monitoring systems, which are increasingly used in practice, will be improved. The presented paper is a scientific and methodological publication.

Preloaded bolted connections are one of the most used approaches for anchoring steel structures and equipment. Preload is induced by a mechanical tightening of the nut with the required torque. In the case of anchor bolts embedded in a concrete base, the prescribed tightening procedure has to be followed for safe and reliable operation. The present paper addresses the problem of anchoring a new casting pedestal using the original anchor bolts. The aim was to verify the original anchoring system’s reliable and safe operation, taking into account the current condition of the bolts. The analysed anchoring bolts are subjected to cyclic (disappearing) stress during the rotation of the casting pedestal. If the interplays between the anchor bolt and the concrete foundation were damaged, production would shut down, resulting in high economic losses. For this reason, the authors used a modified nut with a lightened first thread when investigating the actual state of the anchoring and setting the required preload. The shape and dimensions of the nut were determined based on the results of numerical modelling. The experimental measurements consisted of two phases. In the first phase, the values of axial forces in the anchor bolts at the required preload were set using the designed dynamometers. The second phase was focused on the operational measurements. The methodology of measuring the axial forces and the interpretation of the results obtained, including a comprehensive view of the anchoring safety, provides relevant evidence of the functionality and effectiveness of the proposed solution. Based on the results of the operational measurement and the prescribed handling of the casting pedestal, the lifespan of the anchoring was determined to be 3650 days under the loading cycles to date.

Technological units of water reservoirs and power plants include sluice gates which are designed to completely seal the inflow or outflow of water in supply or discharge channels. This article describes the issue of technical assessment of a sluice gate made in the 1950s. Such structures are characterised by states of significant corrosive wear, permanent deformations of contact and sealing surfaces as well as increased levels of residual stresses. In such cases, it is difficult to determine service life using only numerical modelling methods, mainly due to problematic definition of material properties and boundary conditions. Therefore, for safety assessment, it is necessary to verify these facts experimentally. This article presents the procedure for assessing safe operation of the sluice gate on which places with permanent deformation and a broken part of the guide wheel flange were identified. By means of numerical modelling, we identified critical stress values at the locations of reinforcing elements, which were modified, and the stress values were reduced by about 15%. The results of numerical modelling were verified at select locations by experimental measurements during operation using strain gauges. The maximum values of operational normal stresses in the assessed places reached about 27 MPa. Based on the comparison of obtained results and taking into account values of residual stresses reaching up to 190 MPa made by shielded metal arc welding, it can be stated that, for safe operation of the sluice gate, it is necessary to follow the proposed procedure during its lowering and to modify the reinforcing elements structurally.

Urgency of the research. Nowadays, the deployment of platforms, such as Raspberry Pi is applied not only in educational or hobby projects, but it finds application also in industry or various commercial products. Therefore, it is crucial to explore the possibilities of using such systems. Target setting. The research aimed to create a low-cost photo booth that would be comparable or better in parameters to commercial solutions, but at a much lower cost. Actual scientific researches and issues analysis. When designing the system and preparing this paper, we considered both current sources – publications and papers dealing with the current state of development of the photo booth as well as existing solutions, which are available on the market. Uninvestigated parts of general matters defining. The created photo booth solution currently neither have printing applied, nor send the resulting photos to email or cloud automatically. It will be implemented in the next stage of development. The research objective. The purpose of this article is to explain how we can create original photo booth using Raspberry Pi platform. The statement of basic materials. We used single-board microcomputer Raspberry Pi, and in combination with a camera, we made a photo booth. For this system, we created a control program in the Python environment, which is one of the most widespread programming languages and finds application in various areas. Conclusions. Using the Raspberry Pi and the camera, we created a fully functional photo booth qualitatively comparable to commercially available products at a much lower price.