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This paper deals with a harmonic drive, which can be used for an industrial robot, such as RIP 63, COMAU, or KUKA (RRR). The robot could be integrated in an industrial manufacturing process where it has to manipulate / transport bags, sacks, or other loads. The paper presents also the experimental setup for efficiency determination as well as experimental determinations. The computation operations were performed in MATLAB environment and the results were in good agreement with experimental tests.

Autonomous mobile robots for vertical surface cleaning have to support their own weight, fixing elements most frequently used being vacuum cups. An original construction of a cleaning robot with displacements in a vertical plane and vacuum attachment system was developed by the authors. The paper presents the most important results of the research performed in order to establish the behavior of vacuum cups used for coupling to the supporting surface in the presence of external loads.

The paper is presenting a system derived for the automation of the acoustical and vibration measurements. The evaluation of noise emitted by an object by measuring the acoustic intensity according with the ISO 9614-3:2002 international standard requires displacement of the probe on spatial trajectories with constant speed and maintaining the spatial orientation of the probe. In a previous work a robot was design by the authors for performing this task, including a unit with 3 translations and an orientation unit with 2 rotations. The practical tests of the first system shown high difficulties in maintaining the constant speed due to the robot dimensions and inertia. Also the noise produced by the translational units during scanning was too high. The system is improved by adding 1 degree of freedom at the orientation unit, reduction of noise and new software version. The new mechanical structure is presented in this paper.