Interface of the X3D prototype of the manipulative robot grip

The goal is to develop the X3D interface part, a prototype of a two-finger grip for manipulative robots to simulate its operation during various technological operations, for example, moving from the position of gripping a part to the position of releasing it in the working area of a numerically controlled machines. The research methods relate to three-dimensional modeling, system analysis and robotics. The results of the research contain a description of the interface part and the X3D prototypecode of the grip, in which Cartesian, cylindrical, spherical, angular or generalized coordinates can act as pole coordinates, and the orientation of the grip can be described by Euler parameters, three angles (Euler, airplane, ship), quaternions, and Cayley-Klein parameters. The final movements of the grip can be set by screws, biquaternions, or any combination of parameters describing the target position of the grip pole and its orientation. In the processes of grip transitions from one axial orientation to another, not only known parameters can be used, but also unique digital codes. The group properties of such codes are investigated, and their relationship with Euler parameters and quaternions is established. It is possible to use any methods of descrybing the positions of the grip. Conclusion. The obtained results are used for X3D modeling of the grip in a digital model of a manipulative robot, which is part of a robotic technological complex in which the technological equipment is known, as well as the number, appearance, mass-inertia and physical properties of objects of manipulation (loads, parts, tools), i.e. adaptive properties, the developed prototype of the grip does not it has.