TY  - CONF
AU  - Nešovanović, Ljubomir
AU  - Živanović, Saša
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7131
AB  - Developing a novel parallel mechanism design is a complex process, including multiple phases. Designing and analyzing the mechanism's physical prototype is one of the most important phases. The proposed mechanism is novel, with parallel kinematics with actuated translation joins. The considered mechanisms platform has three degrees of freedom (DOF) achieved with three independent kinematic chains representing the connection between the stationary base and the moving platform. The proposed mechanism has numerous connected linkages because of the parallel kinematic construction. The weakest parameter of the mechanisms with parallel kinematics compared to mechanisms with serial kinematics is the shape and size of the workspace. Because of this, the workspace is one of the main parameters in designing a mechanism with parallel kinematics. To achieve the optimal workspace, it is necessary to use the proper joints in the mechanism construction. The mechanism analysis and proper joint selection can be achieved in two ways. The first way is to build the virtual model and experiment on it, and the second is to build the physical prototype. The best way to select the proper joints for the mechanism construction is to compare the analysis results of virtual and physical mechanisms. If the results of comparing virtual and physical prototypes are the same, the physical prototype verifies the mechanism design.
PB  - UNIVERSITY OF NOVI SAD, FACULTY OF TECHNICAL SCIENCES
C3  - 39th International Conference on Production Engineering of Serbia ICPES 2023, 26-27. October 2023
T1  - Verification of kinematic joints on a physical prototype of a novel parallel mechanism based on Chebyshev's linkage
EP  - 251
SP  - 246
UR  - https://hdl.handle.net/21.15107/rcub_machinery_7131
ER  - 

@conference{
author = "Nešovanović, Ljubomir and Živanović, Saša",
year = "2023",
abstract = "Developing a novel parallel mechanism design is a complex process, including multiple phases. Designing and analyzing the mechanism's physical prototype is one of the most important phases. The proposed mechanism is novel, with parallel kinematics with actuated translation joins. The considered mechanisms platform has three degrees of freedom (DOF) achieved with three independent kinematic chains representing the connection between the stationary base and the moving platform. The proposed mechanism has numerous connected linkages because of the parallel kinematic construction. The weakest parameter of the mechanisms with parallel kinematics compared to mechanisms with serial kinematics is the shape and size of the workspace. Because of this, the workspace is one of the main parameters in designing a mechanism with parallel kinematics. To achieve the optimal workspace, it is necessary to use the proper joints in the mechanism construction. The mechanism analysis and proper joint selection can be achieved in two ways. The first way is to build the virtual model and experiment on it, and the second is to build the physical prototype. The best way to select the proper joints for the mechanism construction is to compare the analysis results of virtual and physical mechanisms. If the results of comparing virtual and physical prototypes are the same, the physical prototype verifies the mechanism design.",
publisher = "UNIVERSITY OF NOVI SAD, FACULTY OF TECHNICAL SCIENCES",
journal = "39th International Conference on Production Engineering of Serbia ICPES 2023, 26-27. October 2023",
title = "Verification of kinematic joints on a physical prototype of a novel parallel mechanism based on Chebyshev's linkage",
pages = "251-246",
url = "https://hdl.handle.net/21.15107/rcub_machinery_7131"
}

Nešovanović, L.,& Živanović, S.. (2023). Verification of kinematic joints on a physical prototype of a novel parallel mechanism based on Chebyshev's linkage. in 39th International Conference on Production Engineering of Serbia ICPES 2023, 26-27. October 2023
UNIVERSITY OF NOVI SAD, FACULTY OF TECHNICAL SCIENCES., 246-251.
https://hdl.handle.net/21.15107/rcub_machinery_7131

Nešovanović L, Živanović S. Verification of kinematic joints on a physical prototype of a novel parallel mechanism based on Chebyshev's linkage. in 39th International Conference on Production Engineering of Serbia ICPES 2023, 26-27. October 2023. 2023;:246-251.
https://hdl.handle.net/21.15107/rcub_machinery_7131 .

Nešovanović, Ljubomir, Živanović, Saša, "Verification of kinematic joints on a physical prototype of a novel parallel mechanism based on Chebyshev's linkage" in 39th International Conference on Production Engineering of Serbia ICPES 2023, 26-27. October 2023 (2023):246-251,
https://hdl.handle.net/21.15107/rcub_machinery_7131 .

TY  - CONF
AU  - Nešovanović, Ljubomir
AU  - Živanović, Saša
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/6877
AB  - The mechanisms with parallel kinematics are applied to a significant extent in today's industry
because of the advantage over the mechanisms with serial kinematics. But the size and shape of
workspace as the main problem of parallel kinematic machine stands. The proposed mechanism has parallel kinematics and can achieve three degrees of freedom (DOF) with a moving platform. The considered mechanism is actuated with translation actuated joints and has three kinematic chains, which are the connection between the stationary base and the moving platform. The kinematic chains arrangement is set to allow the extension of one of the mechanism's horizontal axis. This means the proposed mechanism has one extended horizontal axis, meaning physical length is the only limitation. This characteristic is very important because of the shape and size of the workspace. The main characteristic of the proposed mechanism is the third kinematic chain, which is based on Chebyshev's mechanism and presents the passive translational rotary joint. Because of the mechanism complexity, it is necessary to simplify the kinematic model for further mathematical analysis.
PB  - University of Banja Luka, Faculty of Mechanical Engineering
C3  - Proceedings of the 16th International Conference on Accomplishments in Mechanical and Industrial Engineering DEMI 2023
T1  - Conceptual design of a novel mechanism with parallel kinematics based on Chebyshev's linkage
EP  - 40
SP  - 35
UR  - https://hdl.handle.net/21.15107/rcub_machinery_6877
ER  - 

@conference{
author = "Nešovanović, Ljubomir and Živanović, Saša",
year = "2023",
abstract = "The mechanisms with parallel kinematics are applied to a significant extent in today's industry
because of the advantage over the mechanisms with serial kinematics. But the size and shape of
workspace as the main problem of parallel kinematic machine stands. The proposed mechanism has parallel kinematics and can achieve three degrees of freedom (DOF) with a moving platform. The considered mechanism is actuated with translation actuated joints and has three kinematic chains, which are the connection between the stationary base and the moving platform. The kinematic chains arrangement is set to allow the extension of one of the mechanism's horizontal axis. This means the proposed mechanism has one extended horizontal axis, meaning physical length is the only limitation. This characteristic is very important because of the shape and size of the workspace. The main characteristic of the proposed mechanism is the third kinematic chain, which is based on Chebyshev's mechanism and presents the passive translational rotary joint. Because of the mechanism complexity, it is necessary to simplify the kinematic model for further mathematical analysis.",
publisher = "University of Banja Luka, Faculty of Mechanical Engineering",
journal = "Proceedings of the 16th International Conference on Accomplishments in Mechanical and Industrial Engineering DEMI 2023",
title = "Conceptual design of a novel mechanism with parallel kinematics based on Chebyshev's linkage",
pages = "40-35",
url = "https://hdl.handle.net/21.15107/rcub_machinery_6877"
}

Nešovanović, L.,& Živanović, S.. (2023). Conceptual design of a novel mechanism with parallel kinematics based on Chebyshev's linkage. in Proceedings of the 16th International Conference on Accomplishments in Mechanical and Industrial Engineering DEMI 2023
University of Banja Luka, Faculty of Mechanical Engineering., 35-40.
https://hdl.handle.net/21.15107/rcub_machinery_6877

Nešovanović L, Živanović S. Conceptual design of a novel mechanism with parallel kinematics based on Chebyshev's linkage. in Proceedings of the 16th International Conference on Accomplishments in Mechanical and Industrial Engineering DEMI 2023. 2023;:35-40.
https://hdl.handle.net/21.15107/rcub_machinery_6877 .

Nešovanović, Ljubomir, Živanović, Saša, "Conceptual design of a novel mechanism with parallel kinematics based on Chebyshev's linkage" in Proceedings of the 16th International Conference on Accomplishments in Mechanical and Industrial Engineering DEMI 2023 (2023):35-40,
https://hdl.handle.net/21.15107/rcub_machinery_6877 .

TY  - CONF
AU  - Vorkapić, Nikola
AU  - Maletić, Julija
AU  - Nešovanović, Ljubomir
AU  - Živanović, Saša
AU  - Pjević, Miloš
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4630
AB  - U radu je predstavljena eksperimentalna metoda za identifikaciju specifičnih sila rezanja, koja se bazira na
procesu glodanja za tri različite vrste materijala. Jedan od bitnih pokazatelja tačnosti izrađenih delova i
kvaliteta obrađene površine, pored režima rezanja, jesu sile rezanja koje u toku tog procesa postoje. Pojačani
režimi rezanja, a samim tim i veće sile, mogu dovesti do oštećenja alata ili obratka. Da bi se ti neželjeni efekti
predupredili, vrše se empirijski proračuni sila rezanja na osnovu specifičnih sila rezanja, koje se mogu
određivati eksperimentalnim putem. Kako vrednosti specifičnih sila zavise od materijala alata i obratka, kao
i geometrije alata korišćenog u procesu merenja, dobijaju se različite vrednosti izmerenih podataka. Vrednosti
specifičnih sila se mogu iskoristiti u istraživačke svrhe pri konfigurisanju savremenih tehnoloških sistema za
obradu materijala rezanjem podržanim mehatronskim sistemima za nadzor. Razmatrani vid unapređenja
konfigurisanja tehnoloških sistema ima za cilj praćenje pojedinih parametara procesa u realnom vremenu i
održavanje njihovih vrednosti konstantnim, ili optimizaciju programirane putanje alata.
PB  - Univerzitet u Beogradu Mašinski Fakultet
C3  - 43 JUPITER konferencija : zbornik radova, Beograd, oktobar 2022
T1  - Eksperimentalna identifikacija specifičnih sila rezanja sa eksperimentima obimnog glodanja
EP  - 3.111
SP  - 3.106
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4630
ER  - 

@conference{
author = "Vorkapić, Nikola and Maletić, Julija and Nešovanović, Ljubomir and Živanović, Saša and Pjević, Miloš",
year = "2022",
abstract = "U radu je predstavljena eksperimentalna metoda za identifikaciju specifičnih sila rezanja, koja se bazira na
procesu glodanja za tri različite vrste materijala. Jedan od bitnih pokazatelja tačnosti izrađenih delova i
kvaliteta obrađene površine, pored režima rezanja, jesu sile rezanja koje u toku tog procesa postoje. Pojačani
režimi rezanja, a samim tim i veće sile, mogu dovesti do oštećenja alata ili obratka. Da bi se ti neželjeni efekti
predupredili, vrše se empirijski proračuni sila rezanja na osnovu specifičnih sila rezanja, koje se mogu
određivati eksperimentalnim putem. Kako vrednosti specifičnih sila zavise od materijala alata i obratka, kao
i geometrije alata korišćenog u procesu merenja, dobijaju se različite vrednosti izmerenih podataka. Vrednosti
specifičnih sila se mogu iskoristiti u istraživačke svrhe pri konfigurisanju savremenih tehnoloških sistema za
obradu materijala rezanjem podržanim mehatronskim sistemima za nadzor. Razmatrani vid unapređenja
konfigurisanja tehnoloških sistema ima za cilj praćenje pojedinih parametara procesa u realnom vremenu i
održavanje njihovih vrednosti konstantnim, ili optimizaciju programirane putanje alata.",
publisher = "Univerzitet u Beogradu Mašinski Fakultet",
journal = "43 JUPITER konferencija : zbornik radova, Beograd, oktobar 2022",
title = "Eksperimentalna identifikacija specifičnih sila rezanja sa eksperimentima obimnog glodanja",
pages = "3.111-3.106",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4630"
}

Vorkapić, N., Maletić, J., Nešovanović, L., Živanović, S.,& Pjević, M.. (2022). Eksperimentalna identifikacija specifičnih sila rezanja sa eksperimentima obimnog glodanja. in 43 JUPITER konferencija : zbornik radova, Beograd, oktobar 2022
Univerzitet u Beogradu Mašinski Fakultet., 3.106-3.111.
https://hdl.handle.net/21.15107/rcub_machinery_4630

Vorkapić N, Maletić J, Nešovanović L, Živanović S, Pjević M. Eksperimentalna identifikacija specifičnih sila rezanja sa eksperimentima obimnog glodanja. in 43 JUPITER konferencija : zbornik radova, Beograd, oktobar 2022. 2022;:3.106-3.111.
https://hdl.handle.net/21.15107/rcub_machinery_4630 .

Vorkapić, Nikola, Maletić, Julija, Nešovanović, Ljubomir, Živanović, Saša, Pjević, Miloš, "Eksperimentalna identifikacija specifičnih sila rezanja sa eksperimentima obimnog glodanja" in 43 JUPITER konferencija : zbornik radova, Beograd, oktobar 2022 (2022):3.106-3.111,
https://hdl.handle.net/21.15107/rcub_machinery_4630 .

TY  - CONF
AU  - Nešovanović, Ljubomir
AU  - Živanović, Saša
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4660
AB  - This paper presents modeling and analysis of a virtual machine prototype based on Lambda parallel kinematic mechanism with actuated translation joints. Kinematic modeling includes solving inverse kinematic and workspace analysis of the machine. Verification of inverse kinematic equations has been done analytically using MatLab software and a CAD/CAM system, and the workspace analysis is also done analytically using the polar coordinates.
PB  - Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet
C3  - Proceedings of 21st International Symposium INFOTEH-JAHORINA, Jahorina, 16 – 18. March 2022.
T1  - Kinematic structure and workspace analysis of a parallel kinematic machine based on lambda mechanism with actuated translation joints
EP  - 277
SP  - 272
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4660
ER  - 

@conference{
author = "Nešovanović, Ljubomir and Živanović, Saša",
year = "2022",
abstract = "This paper presents modeling and analysis of a virtual machine prototype based on Lambda parallel kinematic mechanism with actuated translation joints. Kinematic modeling includes solving inverse kinematic and workspace analysis of the machine. Verification of inverse kinematic equations has been done analytically using MatLab software and a CAD/CAM system, and the workspace analysis is also done analytically using the polar coordinates.",
publisher = "Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet",
journal = "Proceedings of 21st International Symposium INFOTEH-JAHORINA, Jahorina, 16 – 18. March 2022.",
title = "Kinematic structure and workspace analysis of a parallel kinematic machine based on lambda mechanism with actuated translation joints",
pages = "277-272",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4660"
}

Nešovanović, L.,& Živanović, S.. (2022). Kinematic structure and workspace analysis of a parallel kinematic machine based on lambda mechanism with actuated translation joints. in Proceedings of 21st International Symposium INFOTEH-JAHORINA, Jahorina, 16 – 18. March 2022.
Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet., 272-277.
https://hdl.handle.net/21.15107/rcub_machinery_4660

Nešovanović L, Živanović S. Kinematic structure and workspace analysis of a parallel kinematic machine based on lambda mechanism with actuated translation joints. in Proceedings of 21st International Symposium INFOTEH-JAHORINA, Jahorina, 16 – 18. March 2022.. 2022;:272-277.
https://hdl.handle.net/21.15107/rcub_machinery_4660 .

Nešovanović, Ljubomir, Živanović, Saša, "Kinematic structure and workspace analysis of a parallel kinematic machine based on lambda mechanism with actuated translation joints" in Proceedings of 21st International Symposium INFOTEH-JAHORINA, Jahorina, 16 – 18. March 2022. (2022):272-277,
https://hdl.handle.net/21.15107/rcub_machinery_4660 .

TY  - JOUR
AU  - Nešovanović, Ljubomir
AU  - Živanović, Saša
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4657
AB  - This paper presents workspace and kinematic analysis of a parallel kinematic machine based on the Lambda mechanism. The considered parallel kinematic machine has six degrees of freedom (DOF), achievable with six actuated translation joints. The kinematic analysis includes the definition of every active part of the machine, as well as the definition of every active or passive joint used to connect machine parts. The mathematical model of the machine is created for the better understanding of the machine's operation. The proposed mathematical model of the machine includes inverse kinematic equations, whose solving presents the first step in workspace analysis. In this case, the offered parallel kinematic machine has six active-joint variables, and every active-joint variable is the result of one inverse kinematic equation. Verification of the inverse kinematic equations has been done analytically, using MatLab software and a CAD/CAM system. Workspace analysis, as one of the most important parameters of the parallel kinematic machine, presents the main topic of this paper. In this case two approaches to the workspace analysis are given. The first considered analysis is used to determine the achievable workspace of the machine, and the second analysis is used to determine the total orientation workspace of the machine. Polar coordinates are used to simplify the process of the workspace analysis.
PB  - University of East Sarajevo, Faculty of Electrical Engineering
PB  - Belgrade : Academic Mind
T2  - International Journal of Electrical Engineering and Computing (IJEEC)
T1  - Workspace and Kinematic Structure Analysis of a 6-DOF Lambda Parallel Kinematic Machine
EP  - 8
IS  - 1
SP  - 1
VL  - 6
DO  - 10.7251/IJEEC2206001N
ER  - 

@article{
author = "Nešovanović, Ljubomir and Živanović, Saša",
year = "2022",
abstract = "This paper presents workspace and kinematic analysis of a parallel kinematic machine based on the Lambda mechanism. The considered parallel kinematic machine has six degrees of freedom (DOF), achievable with six actuated translation joints. The kinematic analysis includes the definition of every active part of the machine, as well as the definition of every active or passive joint used to connect machine parts. The mathematical model of the machine is created for the better understanding of the machine's operation. The proposed mathematical model of the machine includes inverse kinematic equations, whose solving presents the first step in workspace analysis. In this case, the offered parallel kinematic machine has six active-joint variables, and every active-joint variable is the result of one inverse kinematic equation. Verification of the inverse kinematic equations has been done analytically, using MatLab software and a CAD/CAM system. Workspace analysis, as one of the most important parameters of the parallel kinematic machine, presents the main topic of this paper. In this case two approaches to the workspace analysis are given. The first considered analysis is used to determine the achievable workspace of the machine, and the second analysis is used to determine the total orientation workspace of the machine. Polar coordinates are used to simplify the process of the workspace analysis.",
publisher = "University of East Sarajevo, Faculty of Electrical Engineering, Belgrade : Academic Mind",
journal = "International Journal of Electrical Engineering and Computing (IJEEC)",
title = "Workspace and Kinematic Structure Analysis of a 6-DOF Lambda Parallel Kinematic Machine",
pages = "8-1",
number = "1",
volume = "6",
doi = "10.7251/IJEEC2206001N"
}

Nešovanović, L.,& Živanović, S.. (2022). Workspace and Kinematic Structure Analysis of a 6-DOF Lambda Parallel Kinematic Machine. in International Journal of Electrical Engineering and Computing (IJEEC)
University of East Sarajevo, Faculty of Electrical Engineering., 6(1), 1-8.
https://doi.org/10.7251/IJEEC2206001N

Nešovanović L, Živanović S. Workspace and Kinematic Structure Analysis of a 6-DOF Lambda Parallel Kinematic Machine. in International Journal of Electrical Engineering and Computing (IJEEC). 2022;6(1):1-8.
doi:10.7251/IJEEC2206001N .

Nešovanović, Ljubomir, Živanović, Saša, "Workspace and Kinematic Structure Analysis of a 6-DOF Lambda Parallel Kinematic Machine" in International Journal of Electrical Engineering and Computing (IJEEC), 6, no. 1 (2022):1-8,
https://doi.org/10.7251/IJEEC2206001N . .