Due to the longer distance of moving the crew to the workplace in hard coal mines, the possibility of increasing the maximum permissible speed of suspended monorails was considered. To ensure an adequate level of safety, decelerations affecting the crew in the case of emergency braking in various travelling conditions were analysed. The computational model was verified based on the results of the bench tests on a dedicated test track. The article presents a comparison of results of numerical calculations with measurements at the test stand, and results of numerical simulations in relation to the criterial states that could not be checked at the test stand as well as the analysis of overloads that affect the crew during the emergency braking. These overloads have a significant impact on safety of the operator and passengers, and their determination and analysis may be the basis for assessing the degree of safety as well as for the development of guidelines for designing the additional equipment for the operator's cabs and passenger cars, i.e. components increasing their safety

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The study outlines the method for integration of a 3D model of a robot manipulating mechanism with its phantom. Robots are usually programmed by means of their control panels (teachpendants) or with use of relevant software dedicated for programming aid (e.g. Robcad). An alternative method for programming of robots may consist in application of a tangible robot model (a phantom) that is dedicated for programming FANUC ARCMate100iB robots. The phantom is used as a real object that enforces defined positions for individual members of the manipulator virtual model. For that purpose a model of a real robot manipulator was constructed at the 1:4 scale with use of the fast prototyping methods and the model was subsequently used as the enforcing object. Since accurate potentiometers were installed on each of the manipulator rotation axis the information about specific angular positions of the individual members of the manipulator could be provided.

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