There are a lot of software for 3D modeling of robots, MS and RTC: from free and simple ones for students, for example, Gazebo, Marilou HOME, Microsoft Robotics Developer Studio, Simbad, to commercial and multifunctional programs for industrial enterprises, design departments and scientific researches, for example, RobSim, Marilou PRO, TeamBots. Why do you create other similar software? There are some reasons. First, the method described in this article helps to create the Web application which can work in any modern browser. Secondly, this application is focused on XML, therefore it has a simple and short open code. Thirdly, automatically generated HTML document containing RTK X3D-marking is a result of modeling of RTK. Fourthly, the offered application is optimized according to "bottom-up" and "top-down" methodology for creation mathematical and 3D models of MS and RTK with their animation. Fifthly, the created Web application is a component of the graphic interface of the "SYSTEL" software. It is used for solving problems in mechanics, motion control, bodies parameters' identification and synthesis of MS with set properties. Other software, as we know, does not have the first four advantages. Our attempts to use this software to solve the problems of mechanics and motion control of the MS were less effective than using "SYSTEL". It is impossible to use the software known to us for the problems solutions listed above.This article considers the use of the eXtensible Markup Language of 3D vector graphics (X3D) for modeling of the MS consisting of absolutely rigid bodies. These bodies form various kinematic pairs (KP) between themselves and the ground (with a stand, rack, support surface). The handling systems of robots, walking and crawling devices, wheel and caterpillar vehicles, hoisting and transport mechanisms, various machines and controlled process equipment are the examples of such MS.The described methodical and software is intended for use in the following areas: 3D modeling, process modeling, modeling of tree-like systems, mathematical modeling of bodies' systems, automation and robotization of productions. The main purpose is an execution of the project works on the robotization of manufacturing processes, in particular, of interoperational transportation, spot and arc welding, dyeing, assembly and other technological operations. The technique of the tabular description of composition, structure, geometrical and kinematic parameters of robots and other mechanical systems (MS) of the robotic technological complexes (RTC) has been offered. The html-file with the X3D model of RTC is automatically generated by these parameters. The basic concepts and designations used for the formal description of any RTK have been introduced. The X3D-marking of the RTC is executed on the basis of the parameters table of the MS which are the part of the RTC. This table is an interface between the user and the application for the RTC modeling. X3D models of bodies can be generated by default on the basis of the made table ...
The models walking machine (WM) with one-axis body are considered. Their kinematic schemes are providing the maximum carrying capacity and minimum actuators' power consumption for implementing the specified body movement. The solution of the dynamics equations (DE) for one-axis WM (OWM) are obtained. These DE contain OWM-N kinematic, geometric and simulation parameters, where N is any real number more than 5. The number of mathematical operations obtained in DE are minimal. DE are presented in two forms: first, as a system of differential-algebraic equations where differential equations contain the dynamic reaction at the support points, and algebraic equations describe the relations between the support feet and supporting plane. And secondly, as a system of N second degree differential equations with the excluded relation reactions. Formula of calculating dynamic reactions at the support points is as simple as possible. Formulas for calculating dynamic reactions at pivot points of such WM are derived. The authors also describe algorithms for solving dynamics tasks arising while studying WM walking and give examples.
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