TY  - CONF
AU  - Maletić, Julija
AU  - Živanović, Saša
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7133
AB  - This paper presents the development of a postprocessor for a vertical milling machine with one rotary axis, commonly known as mill-turn. The subject of this analysis is the 4-axis machine MultiProDesk, whose kinematic structure formula is A'Y'OXZ. A postprocessor is a software that transforms the CL file into a machine-readable G-code. The CL file contains the universally formulated toolpath in sets of tool positions and orientations regarding the workpiece coordinate system. The inverse kinematic model method was used to derive the equations needed to transform the CL data into the displacement of the machine's axis. The displacements of the machine's axis are then implemented into a series of commands in the G-code. Machine kinematics can be designed as two unified kinematic chains with the same origin. The inverse kinematic equations were implemented in a postprocessing algorithm in the Matlab software. In order to test the derived equations, a virtual machining environment was developed. The proposed kinematic model was tested using several test workpieces with different machining strategies. The virtual simulation resulted in a virtual workpiece that matched the original workpiece used to calculate the toolpath, verifying the machine's developed postprocessor.
PB  - UNIVERSITY OF NOVI SAD, FACULTY OF TECHNICAL SCIENCES
C3  - 39th International Conference on Production Engineering of Serbia ICPES 2023, 26-27. October 2023, Novi Sad, 2023
T1  - Development of a postprocessor for milling with a rotary axis and verification assisted by virtual machining environment
EP  - 245
SP  - 240
UR  - https://hdl.handle.net/21.15107/rcub_machinery_7133
ER  - 

@conference{
author = "Maletić, Julija and Živanović, Saša",
year = "2023",
abstract = "This paper presents the development of a postprocessor for a vertical milling machine with one rotary axis, commonly known as mill-turn. The subject of this analysis is the 4-axis machine MultiProDesk, whose kinematic structure formula is A'Y'OXZ. A postprocessor is a software that transforms the CL file into a machine-readable G-code. The CL file contains the universally formulated toolpath in sets of tool positions and orientations regarding the workpiece coordinate system. The inverse kinematic model method was used to derive the equations needed to transform the CL data into the displacement of the machine's axis. The displacements of the machine's axis are then implemented into a series of commands in the G-code. Machine kinematics can be designed as two unified kinematic chains with the same origin. The inverse kinematic equations were implemented in a postprocessing algorithm in the Matlab software. In order to test the derived equations, a virtual machining environment was developed. The proposed kinematic model was tested using several test workpieces with different machining strategies. The virtual simulation resulted in a virtual workpiece that matched the original workpiece used to calculate the toolpath, verifying the machine's developed postprocessor.",
publisher = "UNIVERSITY OF NOVI SAD, FACULTY OF TECHNICAL SCIENCES",
journal = "39th International Conference on Production Engineering of Serbia ICPES 2023, 26-27. October 2023, Novi Sad, 2023",
title = "Development of a postprocessor for milling with a rotary axis and verification assisted by virtual machining environment",
pages = "245-240",
url = "https://hdl.handle.net/21.15107/rcub_machinery_7133"
}

Maletić, J.,& Živanović, S.. (2023). Development of a postprocessor for milling with a rotary axis and verification assisted by virtual machining environment. in 39th International Conference on Production Engineering of Serbia ICPES 2023, 26-27. October 2023, Novi Sad, 2023
UNIVERSITY OF NOVI SAD, FACULTY OF TECHNICAL SCIENCES., 240-245.
https://hdl.handle.net/21.15107/rcub_machinery_7133

Maletić J, Živanović S. Development of a postprocessor for milling with a rotary axis and verification assisted by virtual machining environment. in 39th International Conference on Production Engineering of Serbia ICPES 2023, 26-27. October 2023, Novi Sad, 2023. 2023;:240-245.
https://hdl.handle.net/21.15107/rcub_machinery_7133 .

Maletić, Julija, Živanović, Saša, "Development of a postprocessor for milling with a rotary axis and verification assisted by virtual machining environment" in 39th International Conference on Production Engineering of Serbia ICPES 2023, 26-27. October 2023, Novi Sad, 2023 (2023):240-245,
https://hdl.handle.net/21.15107/rcub_machinery_7133 .

TY  - CONF
AU  - Maletić, Julija
AU  - Živanović, Saša
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/6876
AB  - This paper shows the development of a post‐processor for a five‐axis table tilting machine. Postprocessing software transforms a machining toolpath in CL file into G‐code, which is necessary for the machining process in most CNC. The subject of this analysis is the MultiProDesk machine with two rotary axes on the machine table. The kinematic structure of the proposed machine is C'A'Y'OXZ. The machine can be modeled with two kinematic chains, one carrying the workpiece and the other carrying the tool. Equations needed to transform the CL data into the displacement of the machine's axis were derived using the inverse kinematic model. Currently, the machine has a three‐axis configuration, and the model was extended using simplified versions of the two rotary axes. The inverse kinematic equations were implemented in a post‐processing algorithm in the Matlab software. The calculated data was tested in the form of a G‐code on a virtual model of the machine in the Vericut software. The simulated workpiece machined in the virtual surrounding matched the original workpiece used to calculate the toolpath, verifying the developed post‐processor for the considered machine.
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  - A post‐processor for the five‐axis machine MultiProDesk based on inverse kinematic transformation
EP  - 34
SP  - 28
UR  - https://hdl.handle.net/21.15107/rcub_machinery_6876
ER  - 

@conference{
author = "Maletić, Julija and Živanović, Saša",
year = "2023",
abstract = "This paper shows the development of a post‐processor for a five‐axis table tilting machine. Postprocessing software transforms a machining toolpath in CL file into G‐code, which is necessary for the machining process in most CNC. The subject of this analysis is the MultiProDesk machine with two rotary axes on the machine table. The kinematic structure of the proposed machine is C'A'Y'OXZ. The machine can be modeled with two kinematic chains, one carrying the workpiece and the other carrying the tool. Equations needed to transform the CL data into the displacement of the machine's axis were derived using the inverse kinematic model. Currently, the machine has a three‐axis configuration, and the model was extended using simplified versions of the two rotary axes. The inverse kinematic equations were implemented in a post‐processing algorithm in the Matlab software. The calculated data was tested in the form of a G‐code on a virtual model of the machine in the Vericut software. The simulated workpiece machined in the virtual surrounding matched the original workpiece used to calculate the toolpath, verifying the developed post‐processor for the considered machine.",
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 = "A post‐processor for the five‐axis machine MultiProDesk based on inverse kinematic transformation",
pages = "34-28",
url = "https://hdl.handle.net/21.15107/rcub_machinery_6876"
}

Maletić, J.,& Živanović, S.. (2023). A post‐processor for the five‐axis machine MultiProDesk based on inverse kinematic transformation. in Proceedings of the 16th International Conference on Accomplishments in Mechanical and Industrial Engineering DEMI 2023
University of Banja Luka, Faculty of Mechanical Engineering., 28-34.
https://hdl.handle.net/21.15107/rcub_machinery_6876

Maletić J, Živanović S. A post‐processor for the five‐axis machine MultiProDesk based on inverse kinematic transformation. in Proceedings of the 16th International Conference on Accomplishments in Mechanical and Industrial Engineering DEMI 2023. 2023;:28-34.
https://hdl.handle.net/21.15107/rcub_machinery_6876 .

Maletić, Julija, Živanović, Saša, "A post‐processor for the five‐axis machine MultiProDesk based on inverse kinematic transformation" in Proceedings of the 16th International Conference on Accomplishments in Mechanical and Industrial Engineering DEMI 2023 (2023):28-34,
https://hdl.handle.net/21.15107/rcub_machinery_6876 .

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  - JOUR
AU  - Maletić, Julija
AU  - Živanović, Saša
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4659
AB  - This paper analyzes a kinematic structure of a five axis machine tool to obtain the equations needed for generating a postprocessor for this type of machine. The proposed machine is defined by a serial structure with two rotary axes on the machine table. The derived equations transform the CL data obtained by CAD/CAM software into a G-code that can be implemented on a machine. The analyzed equations were implemented in a postprocessing program using the Matlab software The calculated data was used to verify the movement of the machine axes in a virtual surrounding.
PB  - Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet
T2  - Proceedings of 21st International Symposium INFOTEH-JAHORINA, Jahorina, 16 – 18. March 2022.
T1  - Verification of kinematic equations for a five-axis, table tilting machine tool
EP  - 283
SP  - 278
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4659
ER  - 

@article{
author = "Maletić, Julija and Živanović, Saša",
year = "2022",
abstract = "This paper analyzes a kinematic structure of a five axis machine tool to obtain the equations needed for generating a postprocessor for this type of machine. The proposed machine is defined by a serial structure with two rotary axes on the machine table. The derived equations transform the CL data obtained by CAD/CAM software into a G-code that can be implemented on a machine. The analyzed equations were implemented in a postprocessing program using the Matlab software The calculated data was used to verify the movement of the machine axes in a virtual surrounding.",
publisher = "Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet",
journal = "Proceedings of 21st International Symposium INFOTEH-JAHORINA, Jahorina, 16 – 18. March 2022.",
title = "Verification of kinematic equations for a five-axis, table tilting machine tool",
pages = "283-278",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4659"
}

Maletić, J.,& Živanović, S.. (2022). Verification of kinematic equations for a five-axis, table tilting machine tool. in Proceedings of 21st International Symposium INFOTEH-JAHORINA, Jahorina, 16 – 18. March 2022.
Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet., 278-283.
https://hdl.handle.net/21.15107/rcub_machinery_4659

Maletić J, Živanović S. Verification of kinematic equations for a five-axis, table tilting machine tool. in Proceedings of 21st International Symposium INFOTEH-JAHORINA, Jahorina, 16 – 18. March 2022.. 2022;:278-283.
https://hdl.handle.net/21.15107/rcub_machinery_4659 .

Maletić, Julija, Živanović, Saša, "Verification of kinematic equations for a five-axis, table tilting machine tool" in Proceedings of 21st International Symposium INFOTEH-JAHORINA, Jahorina, 16 – 18. March 2022. (2022):278-283,
https://hdl.handle.net/21.15107/rcub_machinery_4659 .

TY  - JOUR
AU  - Maletić, Julija
AU  - Živanović, Saša
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4649
AB  - In this paper, the methodology for verifying inverse kinematic equations is presented. Analysis of the kinematic structure of the machine is shown, which results in the kinematic equations needed for the configuration of the machine's postprocessor. The machine proposed in this paper is a five-axis machine tool with two rotating axes on the spindle. The machine's configuration is X'OYZBA. The derived equations are used to transform the CL data for a test model into a G code used on a
virtual model of the machine tool. A simplified model of the machine is developed using the PTC Creo software, in which the initial testing of the equations was performed. The inverse kinematic equations were implemented in a postprocessing program using the Matlab software. Generated G-code for multi-axis machining process was tested on a virtual machine tool in the Vericut software.
PB  - University of Novi Sad, Faculty of Technical Sciences
T2  - Advanced Technologies and Materials
T1  - Verification of inverse kinematic equations for a five-axis machine tool with a spindle tilting configuration
EP  - 38
IS  - 1
SP  - 33
VL  - 47
DO  - 10.24867/ATM-2022-1-006
ER  - 

@article{
author = "Maletić, Julija and Živanović, Saša",
year = "2022",
abstract = "In this paper, the methodology for verifying inverse kinematic equations is presented. Analysis of the kinematic structure of the machine is shown, which results in the kinematic equations needed for the configuration of the machine's postprocessor. The machine proposed in this paper is a five-axis machine tool with two rotating axes on the spindle. The machine's configuration is X'OYZBA. The derived equations are used to transform the CL data for a test model into a G code used on a
virtual model of the machine tool. A simplified model of the machine is developed using the PTC Creo software, in which the initial testing of the equations was performed. The inverse kinematic equations were implemented in a postprocessing program using the Matlab software. Generated G-code for multi-axis machining process was tested on a virtual machine tool in the Vericut software.",
publisher = "University of Novi Sad, Faculty of Technical Sciences",
journal = "Advanced Technologies and Materials",
title = "Verification of inverse kinematic equations for a five-axis machine tool with a spindle tilting configuration",
pages = "38-33",
number = "1",
volume = "47",
doi = "10.24867/ATM-2022-1-006"
}

Maletić, J.,& Živanović, S.. (2022). Verification of inverse kinematic equations for a five-axis machine tool with a spindle tilting configuration. in Advanced Technologies and Materials
University of Novi Sad, Faculty of Technical Sciences., 47(1), 33-38.
https://doi.org/10.24867/ATM-2022-1-006

Maletić J, Živanović S. Verification of inverse kinematic equations for a five-axis machine tool with a spindle tilting configuration. in Advanced Technologies and Materials. 2022;47(1):33-38.
doi:10.24867/ATM-2022-1-006 .

Maletić, Julija, Živanović, Saša, "Verification of inverse kinematic equations for a five-axis machine tool with a spindle tilting configuration" in Advanced Technologies and Materials, 47, no. 1 (2022):33-38,
https://doi.org/10.24867/ATM-2022-1-006 . .