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.

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The article considers the problem of planning the optimal trajectory of the tripod robot movement. The movement of the output link includes working displacements that are performed for the purpose of machining the workpiece and are completely determined by the surface of the workpiece, as well as the movement of the tool to the beginning of the next stage of processing, which can be relatively free, however, taking into account working area and workpiece surface limitations. The working area is limited by the range of permissible lengths of the drive links and the sign of the Jacobian. Additional restrictions are introduced, related to the dimensions of the workpiece. Chebyshev's metric makes a significant ambiguity in the choice of the trajectory. Therefore, it is proposed to supplement the original objective function with the Euclidean metric taken with a small weighting factor. Optimization was carried out with restrictions on the size of the working area and workpiece.

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