X3D PROTOTYPING OF MANIPULATION ROBOT BODY MODELS

The aim is toinvestigate the possibilities and methods for separate X3D modeling of the structure of manipulation robots and external X3D prototyping of their body models, without requiring knowledge of X3D programming of virtual worlds for their practical use. The research methods are related to 3D modeling, body system kinematics and robotics. Typical angular manipulative robots consisting of a rotating platform, a shoulder, a forearm, and a three-linked hand with a two-fingered grip at the end are considered. The results of the study contain a description of the developed ways of marking up the struc-ture and geometry of manipulation robots and three ways (simple, simple and typical) of creating a digital code, based on which an X3D model of the body is automatically generated. For each of these methods, advantages, disadvantages and limitations are noted, and cases of their effective use are recommended. Practical application of the methods described in detail will be possible for any user who has mastered digital coding of body models. This is especially important for those who do not know declarative xml-programming and in particular the extensible markup language X3D, for the study of which books and articles in Russian are very few. For those who wish to deepen their knowledge of X3D in practice here are presented and described developed X3D and JS-codes for modeling manipulation robots and their bodies. Examples of X3D layout of the structure of typical manipulation robots with six rotational kinematic pairs, which cover most angular industrial robots, are given. Conclusion. The obtained results are used for external X3D prototyping of manipulation robots and their grippers as part of X3D models of robotic technological complexes of inter-operational transportation, painting, welding, assembly in order to simulate the performance of the corresponding technological processes.