Configuring a virtual prototype of a BiSCARA robot

The paper presents the configuring of a virtual prototype BiSCARA robot generated on basis fully developed kinematic model robot. CAD in this way will enable its implementation Python graphical environment as an integral part open architecture control system presented model. included solving inverse and direct problem, determining Jacobian matrix workspace analysis. Verification model, i.e. configured robot, was performed by simulations end-effector tip movement according to given program / CAM environment.