## 3 Results and Discussion
Figure 5: An example of changes in the effector’s displacement, velocity, and acceleration for a normal movement, size ratio K = 10 and range of movement C\({}_{3}\). Figure 6: An example of changes in the effector’s displacement, velocity, and acceleration for a normal movement, size ratio K = 2.5 and range of movement C\({}_{1}\). C\({}_{1}\). They are on average 3.8 m/s for normal movements and 7.3 m/s for fast movements (an increase of 92%). Reducing the kinematic size ratio value results in a reduction in the velocity, vs, which for K = 2.5 is 65% lower than for K = 10 and amounts to 1.3 m/s for normal movements and is 73% lower in the case of fast movements, and it is on average 2 m/s. The results obtained from the study also indicate that reducing the range of motion reduces the velocity of the effector's vs for each of the tested size ratios and types of movement. The most visible reduction in velocity associated with the range of motion occurs for the highest size ratio value. The velocity, vs, for K = 10 and the C\({}_{3}\) range (0.2 m) is 1.7 m/s for normal movements and 2.6 m/s for fast movements. However, the value of velocity, vs, for K = 10 and the range of movement C\({}_{1}\) (0.8 m) is 2.3 times higher for normal movements and almost 3 times higher for fast movements. In the case of the velocity, vs, values for a size ratio K = 2.5 and the range of motion C\({}_{3}\), it can be seen that in normal movements, this velocity is only 20% lower than in fast movements, which is the smallest difference when comparing the velocity values obtained for fast and normal movements. It should be noted that the increase in the velocity of the effector is not directly proportional to the size ratio--with larger amplifications, the movement velocities are relatively lower, although they reach very high values. For a size ratio K = 10 (range 6 m), the maximum velocities of normal movements reach 5 m/s, and with high operator concentration, they even exceed 9 m/s. It should be noted that the influence of concentration increases as the manipulator's range increases. At low size ratios, the relative differences in normal and fast velocities are smaller. Concentration has a very large impact on the velocity of movements, work cycle time, work efficiency, and demand for power and energy. Hence, when designing manipulators for normal long-term operation, normal velocities can be taken into account, while when designing manipulators for rescue or intervention work, the possibility of developing higher s velocities should be considered. A summary of the effector accelerations obtained during the tests in the acceleration (PA) and deceleration (PD) phases for the tested size ratios (K = 10, K = 5, K = 2.5) and ranges of movement (C\({}_{1}\), C\({}_{2}\), C\({}_{3}\)) is presented in Figures 10-12. Analyzing the presented graphs (Figures 10-12), it can be seen that the highest accelerations occurred in the acceleration phase in fast movements with size a ratio K = 10 and amounted to 12.3 m/s\({}^{2}\). In normal movements, the maximum accelerations for the analogous size ratio K were three times lower than in fast movements. It can also be noticed that, regardless of the tested size ratio and type of movement, the accelerations in the deceleration phase (PD) were lower than in the acceleration phase (PA). In the case of normal movements, accelerations in the deceleration phase (PD) were lower than accelerations in the acceleration phase (PA), from 23 to 44% for the C\({}_{1}\) range of motion, 22 to 25% for the C\({}_{2}\) range of motion, and 10 to 23% for the C\({}_{3}\) range of motion. Figure 10: Effector’s accelerations for size ratio K10: (**a**) acceleration phase, (**b**) deceleration phase. In the case of fast movements, the differences were 25-26% for the C\({}_{1}\) range of motion, 34-36% for the C\({}_{2}\) range of motion, and 37-43% for the C\({}_{3}\) range of movement.