This paper is focused on studies of selected process parameters of mechanism with hybrid kinematic structure called Trivariant. Small-scale prototype of Trivariant can work as a machining center with 5 Degrees of Freedom (DOF) as well as a robot with 6 DOF. In the paper is circumscribed field of mechanism workspace. All analyses are performed in selected levels of workspace.

This paper describes the design of machine tool based on the mechanism with parallel kinematic structure (PKS) called hexapod. The advantages of mechanisms with PKS predetermine them to the field of machining and robotics. Machine tool is designed like fully automated device contains system for automatic tool and part changing too. There was necessary to solve also a question of operation safety according to the real risk of injury. Some information about the design process, main requirements, the problems and the final solution can be found in this paper.

This paper deals with the solving of collision detection in area of robotics. Collisions in robotics can cause damaging of robotic device, manipulated objects or in the worst case also the death of human. This is the reason why collision detection and collision avoidance is very important task and nowadays also the modern research is focused on finding of appropriate solving methods and tools. In the paper is described the theoretical introduction, practical solution and also real application.

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Initial enthusiasm for the parallel kinematics in the eighties of the last century slumped significantly during the last twenty years. There were found some disadvantages of standard parallel kinematic structures. The experts around the world began to seek new solutions of outlined problems. They defined several possible ideas which could eliminate the drawbacks and improve the properties and advantages of parallel machines. One of these ways was also the application of mechanisms based on the kinematic structure that consisted of serial and parallel substructures as well. This article is focused on the development of mechanism with hybrid kinematic structure called Trivariant. This mechanism is similar to the well-known and succesful concept called Tricept, represented by various machines.