Abstract-The article considers the problem of providing the necessary geometric parameters of the workspace of a flat robot with 3 degrees of freedom. The influence of the geometric parameters of the robot mechanism configuration (drive mechanisms rod lengths and working platform parameters) as well as the working platform angle of rotation on the dimensions of the workspace was investigated. Special provisions (singularity zones) of the mechanism should be excluded from the robot workspace. The mechanism under investigation has singularities of the second type. Increasing angle φ that decreases the size of the workspace, but increases radius θ of the circle, on which the points of singularity are located, is shown. Thus, it is necessary to limit the swing angle range and expand the variation range of the lengths of the rods' change to ensure the necessary size of the workspace mechanism. For the given dimensions of the workspace (based on the requirements of the technological process), the task of determining the geometric parameters of the robot mechanism configuration is solved. Mathematical modeling is performed. The results of computational experiments are presented.

-The article presents algorithms for the control of a robotic complex for building products using 3D printing, including a module for the main movements and a module for precise movements based on a robot with a cable drive. The description of software modules for the implementation of algorithms and the technology of printing with the use of a printing module and a control unit for the supply of printing material are described. The basic principles of the operation of the program modules and the program interface are considered. There is a detailed selection of 3D print settings in the developed software module such as layer height, type of filling of the model with printing material, printing of supports, etc. Recommendations are given on the optimal choice of these settings to achieve the required quality of the obtained product models. The results of modeling are presented.