X3D Robots Modeling and Generating Controlling Program for FAULHABER Drives

The methods and Web application with automatic code generation for the mathematical and 3D-modeling of industrial robots are provided. The code ensures the execution of the program movements of the working tool (the gripper) or the controlled angular and linear coordinates. 3D modeling is made with the extensible 3D vector graphics markup language (X3D). The SYSTEL software is used for mathematical modeling. The article describes two examples of modeling with the control code generation for FAULHABER drives with a rotary and linear electric motor. The first example is an electromechanical manipulator with a polar coordinate system; the pen is used as the manipulator working element for drawing the second-order graphs of target curves in the horizontal plane. The second example considers a mechatronic device with two translational and three rotational kinematic pairs, forming one cycle. Both devices are made at the Electric Engineering Faculty of the South Ural State University Branch in Miass. They use rotary and linear FAULHABER drives. They are used for verifying the results of modeling, forming program movements and the control code generation.