The trade robotization

Russian food vending machines (VM) have been considered. Schemes of construction of robotic technical systems for automatic sale of goods and the principles of their operation have been proposed. The choice of manipulators delivering paid goods from the warehouse to the buyer has been justified. Examples of X3D-models of warehouses and shelves on which the goods are placed have been given. The SVG-model of manual and automatic animation of program movements of the manipulator in the process of delivery of goods from the warehouse to the buyer has been developed. An algorithm for automatic generation of program sequences for electric drives with a system of commands that specify the absolute and relative positions of the shafts of electric motors, maximum and ground speeds, as well as acceleration and deceleration has been proposed. The examples of generated program sequences for linear actuators the FAULHABER company have been given. The schemes of arrangement of manipulator drives, in which its dynamic equations are linear with constant coefficients. That schemes allow to solve elementary problems of optimal control of the manipulator in terms of performance. A three-level control system of VM has been described. The controllers or electric drive drivers in this system are used at the lower level, the middle level is implemented on the Arduino platform, and the tablet PC is used at the upper level. The possible software and hardware of communication between the VM and the buyer, accounting, sales and inventory in the warehouse, receiving payments are described.. The variants of Arduino integration with mobile applications and information systems on the 1cv8 platform have been considered. Lists and describes the SVG code in models of VM, allowing to place equipment, pick up the geometric dimensions of the warehouses, shelves, baskets, select the types of kinematic pairs and the lengths of manipulators links, build software the movements of manipulators and other tasks in the design of the VM.