## 4 Discussion  
The implementation of modern approaches to the maintenance and monitoring of technical equipment, including robots and handling mechanisms, contributes to the efficient use of analytical outputs to ensure trouble-free operation and the high reliability of equipment. One of the key aspects of ensuring the operational reliability of robotic systems is the effective filtration of lubricant within the gear modules. This filtration plays a crucial role in eliminating contaminants, such as dust particles, metal debris, and other impurities, that may be present in the lubricant. Their removal significantly contributes to the protection of gear mechanisms and other moving components from excessive wear or mechanical damage. Maintaining lubricant cleanliness leads to improved lubrication performance, reduces the coefficient of friction, and optimizes surface contact, thereby extending the service life of components, such as bearings, gears, and the gear units themselves. Recent studies, such as that by [23], have demonstrated the effectiveness of advanced electrostatic filtration technologies in improving lubricant quality. In their work, the researchers investigated the use of electrostatic forces to remove solid contaminants from lubricants. Their findings highlighted that electrostatic filtration not only removes fine  
Figure 11: Graphical representation of the effect of filtration on torque—comparison between gearbox modules G3 and G4. Figure 12: Graphical representation of the angular transmission error (ATE)—comparison between gearbox modules G3 and G4. particles more efficiently but also reduces wear and friction in mechanical systems. This supports the critical role of filtration in maintaining the integrity of gear mechanisms and optimizing the overall performance of robotic systems. Effective lubricant filtration significantly reduces the likelihood of operational failures and functional malfunctions, thereby minimizing the risk of unplanned downtime and associated repair or component replacement costs. Due to the reduced friction and higher lubricant purity, energy transfer becomes more efficient, leading to improved gear mechanism performance, smoother operation, quicker robot responses, and decreased energy consumption of the entire system. The reliability of robotic systems is particularly critical in industrial applications that demand high availability and productivity. Implementing filtration technologies directly into maintenance processes contributes to the stability and long-term operability of equipment, especially in environments where robot failure can halt the production process or cause other severe operational impacts. In addition to mechanical filtration, the application of suitable additives to lubricants has also proven effective in enhancing system reliability and reducing component wear. As highlighted by [24], environmentally acceptable lubricant additives can significantly improve tribological performance while simultaneously reducing the ecological footprint of industrial operations. This dual benefit not only strengthens the economic balance of production through extended service intervals and reduced maintenance costs but also supports sustainable engineering practices. Online monitoring of the tribological parameters of robot gear modules provides a powerful tool for advanced diagnostics and predictive maintenance. It enables real-time detection of abnormalities and early identification of potential faults, allowing operators to take corrective actions before failures occur. Based on the analysis of monitored data, operating parameters can be optimized, robot system efficiency enhanced, and maintenance scheduled proactively. This approach significantly contributes to extended equipment life, reduced failure rates, and minimized costs associated with unplanned service interventions.