TY  - JOUR
AU  - Milutinović, Milan
AU  - Vasilić, Goran
AU  - Živanović, Saša
AU  - Dimić, Zoran
AU  - Kokotović, Branko
AU  - Slavković, Nikola
PY  - 2024
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7772
AB  - Brazed carbide profile mill cutters are widely used in the machining of wood, wood materials, and plastic to form various functional and aesthetic surfaces. Tools of this kind are used in serial and mass production and they are built today using very costly 5-axis grinding machines supported by specialized CAM software that is very expensive too. The paper first developed the possible concept of 5-axis grinding of brazed profile mill cutters using universal diamond grinding wheel shapes. The developed concept of 5-axis grinding served as a basis for the developed approach for 3+2-axis grinding of the brazed formmill cutters which is the essence of this paper. Verification of this set approach of 3+2-axis grinding is performed on a developed functional prototype of a simple 3+2-axis grinder (Axes XYZ are CNC controlled, axes B and C are unpowered axes and have fixed positions during grinding). Based on the established 3+2 grinding strategy complete grinding of a complex profile has been performed on a developed functional prototype. Shape and measures of the cutting edge profile achieved by grinding are inspected on an optical measuring system and showed exceptional results. The established 3+2-axis method of grinding
is an economically successful alternative to costly 5-axis grinding machines, as well as to specialized software, presented in the paper through experimental and practical application.
PB  - Springer-Verlag London Ltd.
T2  - The International Journal of Advanced Manufacturing Technology
T1  - Calculation of wheel path for 3+2-axis grinding of brazed carbide profilemill cutters for wood and plastic
EP  - 4620
SP  - 4603
VL  - 130
DO  - 10.1007/s00170-024-12992-3
ER  - 

@article{
author = "Milutinović, Milan and Vasilić, Goran and Živanović, Saša and Dimić, Zoran and Kokotović, Branko and Slavković, Nikola",
year = "2024",
abstract = "Brazed carbide profile mill cutters are widely used in the machining of wood, wood materials, and plastic to form various functional and aesthetic surfaces. Tools of this kind are used in serial and mass production and they are built today using very costly 5-axis grinding machines supported by specialized CAM software that is very expensive too. The paper first developed the possible concept of 5-axis grinding of brazed profile mill cutters using universal diamond grinding wheel shapes. The developed concept of 5-axis grinding served as a basis for the developed approach for 3+2-axis grinding of the brazed formmill cutters which is the essence of this paper. Verification of this set approach of 3+2-axis grinding is performed on a developed functional prototype of a simple 3+2-axis grinder (Axes XYZ are CNC controlled, axes B and C are unpowered axes and have fixed positions during grinding). Based on the established 3+2 grinding strategy complete grinding of a complex profile has been performed on a developed functional prototype. Shape and measures of the cutting edge profile achieved by grinding are inspected on an optical measuring system and showed exceptional results. The established 3+2-axis method of grinding
is an economically successful alternative to costly 5-axis grinding machines, as well as to specialized software, presented in the paper through experimental and practical application.",
publisher = "Springer-Verlag London Ltd.",
journal = "The International Journal of Advanced Manufacturing Technology",
title = "Calculation of wheel path for 3+2-axis grinding of brazed carbide profilemill cutters for wood and plastic",
pages = "4620-4603",
volume = "130",
doi = "10.1007/s00170-024-12992-3"
}

Milutinović, M., Vasilić, G., Živanović, S., Dimić, Z., Kokotović, B.,& Slavković, N.. (2024). Calculation of wheel path for 3+2-axis grinding of brazed carbide profilemill cutters for wood and plastic. in The International Journal of Advanced Manufacturing Technology
Springer-Verlag London Ltd.., 130, 4603-4620.
https://doi.org/10.1007/s00170-024-12992-3

Milutinović M, Vasilić G, Živanović S, Dimić Z, Kokotović B, Slavković N. Calculation of wheel path for 3+2-axis grinding of brazed carbide profilemill cutters for wood and plastic. in The International Journal of Advanced Manufacturing Technology. 2024;130:4603-4620.
doi:10.1007/s00170-024-12992-3 .

Milutinović, Milan, Vasilić, Goran, Živanović, Saša, Dimić, Zoran, Kokotović, Branko, Slavković, Nikola, "Calculation of wheel path for 3+2-axis grinding of brazed carbide profilemill cutters for wood and plastic" in The International Journal of Advanced Manufacturing Technology, 130 (2024):4603-4620,
https://doi.org/10.1007/s00170-024-12992-3 . .

TY  - CONF
AU  - Vasilić, Goran
AU  - Živanović, Saša
AU  - Milutinović, Milan
AU  - Dimić, Zoran
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7134
AB  - Proces obrade sečenja materijala je jedan od značajnijih metoda obrade u savremenoj industriji. Sa ciljem da se proces obrade u određenoj meri unapredi, u okviru ovoga rada je analizirano kretanje alata tokom procesa obrade kao i uticaj kretanja alata na kretanja mehanzma mašine alatke. Pažnja je posvećena kompleksnoj višeosnoj mašini alatki koja je konfigurisana pomoću dva ravanska rekonfigurabilna mehanizma sa paralenom kinematikom. Mašine alatke zasnovane na paralelnim mehanizmima, a namenjene za proces obrade sečenja žicom su nedovoljno izučavane te rezultati ovoga rada daju značajan doprinos u njihovom budućem razvoju.
AB  - The wire-cutting process is one of the most important processing methods in modern industry. To improve the machining process to a certain extent, the movement of the tool during the machining process as well as the influence of the movement of the tool on the movement of the mechanism of the machine tool were analyzed in this paper. Attention is devoted to a complex multi-axis machine tool, which is made up of two planar reconfigurable mechanisms with parallel kinematics. Machine tools based on parallel mechanisms, intended for the wire-cutting process, are insufficiently studied, and this work's results significantly contribute to their future development.
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
T1  - Kinematika procesa obrade sečenja žicom / Kinematics of the wire cutting process
EP  - 211
SP  - 206
UR  - https://hdl.handle.net/21.15107/rcub_machinery_7134
ER  - 

@conference{
author = "Vasilić, Goran and Živanović, Saša and Milutinović, Milan and Dimić, Zoran",
year = "2023",
abstract = "Proces obrade sečenja materijala je jedan od značajnijih metoda obrade u savremenoj industriji. Sa ciljem da se proces obrade u određenoj meri unapredi, u okviru ovoga rada je analizirano kretanje alata tokom procesa obrade kao i uticaj kretanja alata na kretanja mehanzma mašine alatke. Pažnja je posvećena kompleksnoj višeosnoj mašini alatki koja je konfigurisana pomoću dva ravanska rekonfigurabilna mehanizma sa paralenom kinematikom. Mašine alatke zasnovane na paralelnim mehanizmima, a namenjene za proces obrade sečenja žicom su nedovoljno izučavane te rezultati ovoga rada daju značajan doprinos u njihovom budućem razvoju., The wire-cutting process is one of the most important processing methods in modern industry. To improve the machining process to a certain extent, the movement of the tool during the machining process as well as the influence of the movement of the tool on the movement of the mechanism of the machine tool were analyzed in this paper. Attention is devoted to a complex multi-axis machine tool, which is made up of two planar reconfigurable mechanisms with parallel kinematics. Machine tools based on parallel mechanisms, intended for the wire-cutting process, are insufficiently studied, and this work's results significantly contribute to their future development.",
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",
title = "Kinematika procesa obrade sečenja žicom / Kinematics of the wire cutting process",
pages = "211-206",
url = "https://hdl.handle.net/21.15107/rcub_machinery_7134"
}

Vasilić, G., Živanović, S., Milutinović, M.,& Dimić, Z.. (2023). Kinematika procesa obrade sečenja žicom / Kinematics of the wire cutting process. in 39th International Conference on Production Engineering of Serbia ICPES 2023, 26-27. October 2023, Novi Sad
UNIVERSITY OF NOVI SAD, FACULTY OF TECHNICAL SCIENCES., 206-211.
https://hdl.handle.net/21.15107/rcub_machinery_7134

Vasilić G, Živanović S, Milutinović M, Dimić Z. Kinematika procesa obrade sečenja žicom / Kinematics of the wire cutting process. in 39th International Conference on Production Engineering of Serbia ICPES 2023, 26-27. October 2023, Novi Sad. 2023;:206-211.
https://hdl.handle.net/21.15107/rcub_machinery_7134 .

Vasilić, Goran, Živanović, Saša, Milutinović, Milan, Dimić, Zoran, "Kinematika procesa obrade sečenja žicom / Kinematics of the wire cutting process" in 39th International Conference on Production Engineering of Serbia ICPES 2023, 26-27. October 2023, Novi Sad (2023):206-211,
https://hdl.handle.net/21.15107/rcub_machinery_7134 .

TY  - JOUR
AU  - Milutinović, Milan
AU  - Vasilić, Goran
AU  - Živanović, Saša
AU  - Kokotović, Branko
AU  - Slavković, Nikola
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3699
AB  - U ovom radu je prikazana tehnologija izrade profilnih koturastih glodala sa karbidnim pločicama od tvrdog metala sa posebnim osvrtom na postupak petoosnog brušenja (izrada profilnog sečiva) na CNC brusilici. Na osnovu analize kinematike petoosnog brušenja uspostavljen je nov koncept tehnologije izrade profilnih koturastih glodala 3+2 osnim brušenjem na obradnom centru. Primenom novog koncepta, izvršena je obrada brušenjem jednog zuba profilnog glodala čime je verifikovan nov koncept tehnologija izrade.
AB  - The paper presents the technology of making brazed shaper milling cutters and with special reference to 5-axis grinding process (making of profile blades) on CNC grinding machine tool. Based on the analysis of the kinematics of the 5-axis grinding process, a new concept of profile milling tool production by a 3+2 axis grinding process on horizontal milling center was established. By Applying new concept, one tooth of profile tool was machined by grinding process. By obtained results, new approach for manufacturing of profile milling tools was verified.
PB  - Savez inženjera i tehničara Srbije, Beograd
T2  - Tehnika
T1  - Tehnologija izrade profilnih koturastih glodala 3+2 osnim brušenjem na horizontalnom obradnom centru
T1  - Technology for manufacturing of shaper milling cutters by 3+2 grinding proces on horizontal CNC milling center
EP  - 327
IS  - 3
SP  - 321
VL  - 77
DO  - 10.5937/tehnika2203321M
ER  - 

@article{
author = "Milutinović, Milan and Vasilić, Goran and Živanović, Saša and Kokotović, Branko and Slavković, Nikola",
year = "2022",
abstract = "U ovom radu je prikazana tehnologija izrade profilnih koturastih glodala sa karbidnim pločicama od tvrdog metala sa posebnim osvrtom na postupak petoosnog brušenja (izrada profilnog sečiva) na CNC brusilici. Na osnovu analize kinematike petoosnog brušenja uspostavljen je nov koncept tehnologije izrade profilnih koturastih glodala 3+2 osnim brušenjem na obradnom centru. Primenom novog koncepta, izvršena je obrada brušenjem jednog zuba profilnog glodala čime je verifikovan nov koncept tehnologija izrade., The paper presents the technology of making brazed shaper milling cutters and with special reference to 5-axis grinding process (making of profile blades) on CNC grinding machine tool. Based on the analysis of the kinematics of the 5-axis grinding process, a new concept of profile milling tool production by a 3+2 axis grinding process on horizontal milling center was established. By Applying new concept, one tooth of profile tool was machined by grinding process. By obtained results, new approach for manufacturing of profile milling tools was verified.",
publisher = "Savez inženjera i tehničara Srbije, Beograd",
journal = "Tehnika",
title = "Tehnologija izrade profilnih koturastih glodala 3+2 osnim brušenjem na horizontalnom obradnom centru, Technology for manufacturing of shaper milling cutters by 3+2 grinding proces on horizontal CNC milling center",
pages = "327-321",
number = "3",
volume = "77",
doi = "10.5937/tehnika2203321M"
}

Milutinović, M., Vasilić, G., Živanović, S., Kokotović, B.,& Slavković, N.. (2022). Tehnologija izrade profilnih koturastih glodala 3+2 osnim brušenjem na horizontalnom obradnom centru. in Tehnika
Savez inženjera i tehničara Srbije, Beograd., 77(3), 321-327.
https://doi.org/10.5937/tehnika2203321M

Milutinović M, Vasilić G, Živanović S, Kokotović B, Slavković N. Tehnologija izrade profilnih koturastih glodala 3+2 osnim brušenjem na horizontalnom obradnom centru. in Tehnika. 2022;77(3):321-327.
doi:10.5937/tehnika2203321M .

Milutinović, Milan, Vasilić, Goran, Živanović, Saša, Kokotović, Branko, Slavković, Nikola, "Tehnologija izrade profilnih koturastih glodala 3+2 osnim brušenjem na horizontalnom obradnom centru" in Tehnika, 77, no. 3 (2022):321-327,
https://doi.org/10.5937/tehnika2203321M . .

TY  - JOUR
AU  - Milutinović, Milan
AU  - Dimić, Zoran
AU  - Vasilić, Goran
AU  - Živanović, Saša
AU  - Kokotović, Branko
AU  - Slavković, Nikola
PY  - 2022
UR  - http://www.vti.mod.gov.rs/ntp/rad2022/1/e6.htm
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/6511
AB  - Due to the great expansion of woodworking, profile tools manufacturing has become current and in demand. In wood industry there are two large groups of tools: rotary and spindle milling cutters that can be profile or flat. The technology of making profile rotary milling cutters requires, apart from cutting, turning, milling, 5-axis grinding operation that is performed on a 5-axis CNC grinding machine with the A'OXYZC configuration. It is a machine of a very complex kinematics and high cost-price. The paper presents a new machine that has been built for 3+2-axis grinding - Profilator 100,used for industrial manufacturing of rotary and spindle profile milling cutters. The accuracy of measures and shapes of the profile cutters built on Profilator 100 is of a high level and in industrial exploitation the difference is not observed between the profile cutters built on 5-axis CNC grinding machines. Regarding technoeconomic cost-effectiveness, production costs of Profilator 100 are lower even by ten times compared to the cost-price of 5-axis CNC grinding machines of renowned world manufacturers such as Schneeberger and Volmer.
PB  - Belgrade : Military Technical Institute
T2  - Scientific Technical Review
T1  - Development of a New CNC Grinding Machine for 3+2-Axis Grinding of the Profile Rotary Milling Cutter
EP  - 47
IS  - 1
SP  - 42
VL  - 72
DO  - 10.5937/str2201042M
ER  - 

@article{
author = "Milutinović, Milan and Dimić, Zoran and Vasilić, Goran and Živanović, Saša and Kokotović, Branko and Slavković, Nikola",
year = "2022",
abstract = "Due to the great expansion of woodworking, profile tools manufacturing has become current and in demand. In wood industry there are two large groups of tools: rotary and spindle milling cutters that can be profile or flat. The technology of making profile rotary milling cutters requires, apart from cutting, turning, milling, 5-axis grinding operation that is performed on a 5-axis CNC grinding machine with the A'OXYZC configuration. It is a machine of a very complex kinematics and high cost-price. The paper presents a new machine that has been built for 3+2-axis grinding - Profilator 100,used for industrial manufacturing of rotary and spindle profile milling cutters. The accuracy of measures and shapes of the profile cutters built on Profilator 100 is of a high level and in industrial exploitation the difference is not observed between the profile cutters built on 5-axis CNC grinding machines. Regarding technoeconomic cost-effectiveness, production costs of Profilator 100 are lower even by ten times compared to the cost-price of 5-axis CNC grinding machines of renowned world manufacturers such as Schneeberger and Volmer.",
publisher = "Belgrade : Military Technical Institute",
journal = "Scientific Technical Review",
title = "Development of a New CNC Grinding Machine for 3+2-Axis Grinding of the Profile Rotary Milling Cutter",
pages = "47-42",
number = "1",
volume = "72",
doi = "10.5937/str2201042M"
}

Milutinović, M., Dimić, Z., Vasilić, G., Živanović, S., Kokotović, B.,& Slavković, N.. (2022). Development of a New CNC Grinding Machine for 3+2-Axis Grinding of the Profile Rotary Milling Cutter. in Scientific Technical Review
Belgrade : Military Technical Institute., 72(1), 42-47.
https://doi.org/10.5937/str2201042M

Milutinović M, Dimić Z, Vasilić G, Živanović S, Kokotović B, Slavković N. Development of a New CNC Grinding Machine for 3+2-Axis Grinding of the Profile Rotary Milling Cutter. in Scientific Technical Review. 2022;72(1):42-47.
doi:10.5937/str2201042M .

Milutinović, Milan, Dimić, Zoran, Vasilić, Goran, Živanović, Saša, Kokotović, Branko, Slavković, Nikola, "Development of a New CNC Grinding Machine for 3+2-Axis Grinding of the Profile Rotary Milling Cutter" in Scientific Technical Review, 72, no. 1 (2022):42-47,
https://doi.org/10.5937/str2201042M . .

TY  - CONF
AU  - Vasilić, Goran
AU  - Živanović, Saša
AU  - Milutinović, Milan
AU  - Dimić, Zoran
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4644
AB  - U okviru ovog rada je prikazana analiza jedne višeosne i viševretene mašine alatke namenjene za proces obrade glodanjem. Prema svojoj konfiguraciji, razmatrana mašina alatka se može okarakterisati kao glodalica horizontalno-vertikalnog tipa što je svrstava u grupu multifunkcionalnih mašina alatki. Mašina alatka se prema više kriterijuma može okarakterisati kao mašina alatka rekonfigurabilnog tipa i u zavisnosti od potreba se može konfigurisati za 3-osnu, 4-osnu ili 5-osnu obradu glodanjem. Konfiguracija mašine alatke poseduje dva nezavisna dvoosna rekonfigurabilna paralelna mehanizma što samu mašinu alatku svrstava u grupu kompleksnih mašina alatki.
AB  - This paper presents an analysis of a multi-axis and multi-spindle machine tool intended for the milling process. According to its configuration, the considered machine tool can be characterized as a horizontal-vertical type milling machine, which places it in the group of multifunctional machine tools. According to several criteria, the machine tool can be characterized as a reconfigurable type machine tool and, depending on the needs, can be configured for 3-axis,
4-axis or 5-axis milling. The configuration of the machine tool has two independent two-axis reconfigurable parallel mechanisms, which puts the machine tool itself in the group of complex machine tools.
PB  - Univerzitet u Beogradu, Mašinski fakultet
C3  - 43. JUPITER konferencija, 39. simpozijum NU-Roboti-FTS, Zbornik radova
T1  - Kinematika kompleksne višeosne i viševretene mašine alatke namenjene za proces obrade glodanjem
T1  - Kinematics of complex multi-axis and multi-spindle machine tool intended for the milling process
EP  - 3.88
SP  - 3.79
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4644
ER  - 

@conference{
author = "Vasilić, Goran and Živanović, Saša and Milutinović, Milan and Dimić, Zoran",
year = "2022",
abstract = "U okviru ovog rada je prikazana analiza jedne višeosne i viševretene mašine alatke namenjene za proces obrade glodanjem. Prema svojoj konfiguraciji, razmatrana mašina alatka se može okarakterisati kao glodalica horizontalno-vertikalnog tipa što je svrstava u grupu multifunkcionalnih mašina alatki. Mašina alatka se prema više kriterijuma može okarakterisati kao mašina alatka rekonfigurabilnog tipa i u zavisnosti od potreba se može konfigurisati za 3-osnu, 4-osnu ili 5-osnu obradu glodanjem. Konfiguracija mašine alatke poseduje dva nezavisna dvoosna rekonfigurabilna paralelna mehanizma što samu mašinu alatku svrstava u grupu kompleksnih mašina alatki., This paper presents an analysis of a multi-axis and multi-spindle machine tool intended for the milling process. According to its configuration, the considered machine tool can be characterized as a horizontal-vertical type milling machine, which places it in the group of multifunctional machine tools. According to several criteria, the machine tool can be characterized as a reconfigurable type machine tool and, depending on the needs, can be configured for 3-axis,
4-axis or 5-axis milling. The configuration of the machine tool has two independent two-axis reconfigurable parallel mechanisms, which puts the machine tool itself in the group of complex machine tools.",
publisher = "Univerzitet u Beogradu, Mašinski fakultet",
journal = "43. JUPITER konferencija, 39. simpozijum NU-Roboti-FTS, Zbornik radova",
title = "Kinematika kompleksne višeosne i viševretene mašine alatke namenjene za proces obrade glodanjem, Kinematics of complex multi-axis and multi-spindle machine tool intended for the milling process",
pages = "3.88-3.79",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4644"
}

Vasilić, G., Živanović, S., Milutinović, M.,& Dimić, Z.. (2022). Kinematika kompleksne višeosne i viševretene mašine alatke namenjene za proces obrade glodanjem. in 43. JUPITER konferencija, 39. simpozijum NU-Roboti-FTS, Zbornik radova
Univerzitet u Beogradu, Mašinski fakultet., 3.79-3.88.
https://hdl.handle.net/21.15107/rcub_machinery_4644

Vasilić G, Živanović S, Milutinović M, Dimić Z. Kinematika kompleksne višeosne i viševretene mašine alatke namenjene za proces obrade glodanjem. in 43. JUPITER konferencija, 39. simpozijum NU-Roboti-FTS, Zbornik radova. 2022;:3.79-3.88.
https://hdl.handle.net/21.15107/rcub_machinery_4644 .

Vasilić, Goran, Živanović, Saša, Milutinović, Milan, Dimić, Zoran, "Kinematika kompleksne višeosne i viševretene mašine alatke namenjene za proces obrade glodanjem" in 43. JUPITER konferencija, 39. simpozijum NU-Roboti-FTS, Zbornik radova (2022):3.79-3.88,
https://hdl.handle.net/21.15107/rcub_machinery_4644 .

TY  - CONF
AU  - Milutinović, Milan
AU  - Živanović, Saša
AU  - Vasilić, Goran
AU  - Kokotović, Branko
AU  - Slavković, Nikola
AU  - Dimić, Zoran
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4643
AB  - Rezni alati predstavljaju važan segment u finalnoj obradi drveta. Rezni alati svojom složenom geometrijom omogućuju da se, u jednom prolazu, naprave složene površine na izratku koje su ranijih godina mogle da se kreiraju u više prolaza, korišćenjem manje složenih alata, uz obavezno prisustvo vrlo iskusnih operatera na mašinama. Izrada profilnih koturastih glodala pored konvencionalnih mašina alatki zahteva i petoosnu CNC brusilicu koja profiliše sečivo alata koje je složenog oblika. U ovom radu posebna pažnja posvećena je strategiji 3+2 osne obrade na novoj CNC brusilici uzimajući u obzir činjenicu da je na istoj napravljen veliki broj profilnih koturastih glodala čime je potvrđena industrijska primena nove CNC brusilice i uspostavljene tehnologije.
AB  - Cutting tools represent an important segment in the final processing of wood. Cutting tools, with
their complex geometry, make it possible to create, in one pass, complex surfaces on the workpiece that in earlier years could be created in several passes, using less complex tools, with the mandatory presence of very experienced machine operators. The production of profile milling cutters, in addition to conventional machine tools, also requires a five-axis CNC grinder that profiles the tool blade, which has a complex shape. In this work, special attention is paid to the strategy of 3+2 axis machining on the new CNC grinder, taking into account the fact that a large number of profile milling cutters were made on it, which confirmed the industrial application of the new CNC grinder and the established technology.
PB  - Univerzitet u Beogradu, Mašinski fakultet
C3  - 43. JUPITER konferencija, 39. simpozijum NU-Roboti-FTS, Zbornik radova
T1  - Strategija 3+2 osne obrade na novoj brusilici za izradu profilnih koturastih glodala
T1  - 3+2 axis machining strategy on the new grinding machine for manufacturing profile milling cutters
EP  - 3.100
SP  - 3.95
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4643
ER  - 

@conference{
author = "Milutinović, Milan and Živanović, Saša and Vasilić, Goran and Kokotović, Branko and Slavković, Nikola and Dimić, Zoran",
year = "2022",
abstract = "Rezni alati predstavljaju važan segment u finalnoj obradi drveta. Rezni alati svojom složenom geometrijom omogućuju da se, u jednom prolazu, naprave složene površine na izratku koje su ranijih godina mogle da se kreiraju u više prolaza, korišćenjem manje složenih alata, uz obavezno prisustvo vrlo iskusnih operatera na mašinama. Izrada profilnih koturastih glodala pored konvencionalnih mašina alatki zahteva i petoosnu CNC brusilicu koja profiliše sečivo alata koje je složenog oblika. U ovom radu posebna pažnja posvećena je strategiji 3+2 osne obrade na novoj CNC brusilici uzimajući u obzir činjenicu da je na istoj napravljen veliki broj profilnih koturastih glodala čime je potvrđena industrijska primena nove CNC brusilice i uspostavljene tehnologije., Cutting tools represent an important segment in the final processing of wood. Cutting tools, with
their complex geometry, make it possible to create, in one pass, complex surfaces on the workpiece that in earlier years could be created in several passes, using less complex tools, with the mandatory presence of very experienced machine operators. The production of profile milling cutters, in addition to conventional machine tools, also requires a five-axis CNC grinder that profiles the tool blade, which has a complex shape. In this work, special attention is paid to the strategy of 3+2 axis machining on the new CNC grinder, taking into account the fact that a large number of profile milling cutters were made on it, which confirmed the industrial application of the new CNC grinder and the established technology.",
publisher = "Univerzitet u Beogradu, Mašinski fakultet",
journal = "43. JUPITER konferencija, 39. simpozijum NU-Roboti-FTS, Zbornik radova",
title = "Strategija 3+2 osne obrade na novoj brusilici za izradu profilnih koturastih glodala, 3+2 axis machining strategy on the new grinding machine for manufacturing profile milling cutters",
pages = "3.100-3.95",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4643"
}

Milutinović, M., Živanović, S., Vasilić, G., Kokotović, B., Slavković, N.,& Dimić, Z.. (2022). Strategija 3+2 osne obrade na novoj brusilici za izradu profilnih koturastih glodala. in 43. JUPITER konferencija, 39. simpozijum NU-Roboti-FTS, Zbornik radova
Univerzitet u Beogradu, Mašinski fakultet., 3.95-3.100.
https://hdl.handle.net/21.15107/rcub_machinery_4643

Milutinović M, Živanović S, Vasilić G, Kokotović B, Slavković N, Dimić Z. Strategija 3+2 osne obrade na novoj brusilici za izradu profilnih koturastih glodala. in 43. JUPITER konferencija, 39. simpozijum NU-Roboti-FTS, Zbornik radova. 2022;:3.95-3.100.
https://hdl.handle.net/21.15107/rcub_machinery_4643 .

Milutinović, Milan, Živanović, Saša, Vasilić, Goran, Kokotović, Branko, Slavković, Nikola, Dimić, Zoran, "Strategija 3+2 osne obrade na novoj brusilici za izradu profilnih koturastih glodala" in 43. JUPITER konferencija, 39. simpozijum NU-Roboti-FTS, Zbornik radova (2022):3.95-3.100,
https://hdl.handle.net/21.15107/rcub_machinery_4643 .

TY  - CONF
AU  - Vasilić, Goran
AU  - Živanović, Saša
AU  - Milutinović, Milan
AU  - Dimić, Zoran
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4634
AB  - U okviru ovoga rada je prikazana mašina alatka koja u svojoj strukturi sadrži
dva ravanska paralelna mehanizma. Prikazana mašina alatka je namenjena za
sečenje penastih materijala usijanom žicom. Platforme paralelnih mehanizama nose
po jedan kraj žice a kretanja platformi su uslovljena kretanjem žice po konturama na
obratku. Upotrebljeni paralelni mehanizmi su nezavisni, tako da mašina alatka
omogućava translatorno kretanje žice u pravcu dve ose kao i obrtno kretanje žice oko
istih osa.
PB  - University of East Sarajevo Faculty of Mechanical Engineering
C3  - Proceedings of the 6th international scientific conference ”Conference on Mechanical Engineering Technologies and Applications” COMETa2022
T1  - Mašina alatka sa paralelnim mehanizmima namenjena za sečenje penastih materijala usijanom žicom
T1  - Machine tool with parallel mechanisms intended for cutting foam materials with hot wire
EP  - 139
SP  - 129
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4634
ER  - 

@conference{
author = "Vasilić, Goran and Živanović, Saša and Milutinović, Milan and Dimić, Zoran",
year = "2022",
abstract = "U okviru ovoga rada je prikazana mašina alatka koja u svojoj strukturi sadrži
dva ravanska paralelna mehanizma. Prikazana mašina alatka je namenjena za
sečenje penastih materijala usijanom žicom. Platforme paralelnih mehanizama nose
po jedan kraj žice a kretanja platformi su uslovljena kretanjem žice po konturama na
obratku. Upotrebljeni paralelni mehanizmi su nezavisni, tako da mašina alatka
omogućava translatorno kretanje žice u pravcu dve ose kao i obrtno kretanje žice oko
istih osa.",
publisher = "University of East Sarajevo Faculty of Mechanical Engineering",
journal = "Proceedings of the 6th international scientific conference ”Conference on Mechanical Engineering Technologies and Applications” COMETa2022",
title = "Mašina alatka sa paralelnim mehanizmima namenjena za sečenje penastih materijala usijanom žicom, Machine tool with parallel mechanisms intended for cutting foam materials with hot wire",
pages = "139-129",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4634"
}

Vasilić, G., Živanović, S., Milutinović, M.,& Dimić, Z.. (2022). Mašina alatka sa paralelnim mehanizmima namenjena za sečenje penastih materijala usijanom žicom. in Proceedings of the 6th international scientific conference ”Conference on Mechanical Engineering Technologies and Applications” COMETa2022
University of East Sarajevo Faculty of Mechanical Engineering., 129-139.
https://hdl.handle.net/21.15107/rcub_machinery_4634

Vasilić G, Živanović S, Milutinović M, Dimić Z. Mašina alatka sa paralelnim mehanizmima namenjena za sečenje penastih materijala usijanom žicom. in Proceedings of the 6th international scientific conference ”Conference on Mechanical Engineering Technologies and Applications” COMETa2022. 2022;:129-139.
https://hdl.handle.net/21.15107/rcub_machinery_4634 .

Vasilić, Goran, Živanović, Saša, Milutinović, Milan, Dimić, Zoran, "Mašina alatka sa paralelnim mehanizmima namenjena za sečenje penastih materijala usijanom žicom" in Proceedings of the 6th international scientific conference ”Conference on Mechanical Engineering Technologies and Applications” COMETa2022 (2022):129-139,
https://hdl.handle.net/21.15107/rcub_machinery_4634 .

TY  - CONF
AU  - Vasilić, Goran
AU  - Živanović, Saša
AU  - Kokotović, Branko
AU  - Dimić, Zoran
AU  - Milutinović, Milan
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4717
AB  - The parallel 2DOF (Degrees Of Freedom) mechanism presented in this paper is the basis of many research of the authors. There are many significant results for the presented mechanism, and some of them will be presented in this paper. The main goal of the research regarding the parallel mechanism is to create a hardware and software system that will be used to configure machine tools with three or more DOF. The software system consists of two parts. One part is a set of applications intended for machine analysis and defining optimal configuration, and the other part is a control system of the machine adapted to the hardware of the machine, its configuration and its purpose. For the presented mechanism, the kinematic model of the mechanism will be presented first. Based on the kinematic model, equations representing solutions of kinematic problems will be derived. The derived equations will be in a generalized form with some variable parameters of the machine and in such a form correspond to every possible configuration of the reconfigurable
mechanism. The equations will initially be used to analyse some basic configurations, and then to analyse some configurations that have not been analysed and presented so far. Also, equations in this form that are applicable for all possible configurations of mechanism, are part of both parts of software system. The final result of the presented procedures is one machine that has optimized parameters in accordance with the appropriate production process and with a configured control system that corresponds to the configuration of the machine.
PB  - Belgrade : Innovation Center of Faculty of Mechanical Engineering
C3  - International Conference of Experimental and Numerical Investigations and New Technologies, CNN TECH 2021
T1  - Configuring a class of machines based on reconfigurable 2DOF planar parallel mechanism
EP  - 12
SP  - 12
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4717
ER  - 

@conference{
author = "Vasilić, Goran and Živanović, Saša and Kokotović, Branko and Dimić, Zoran and Milutinović, Milan",
year = "2021",
abstract = "The parallel 2DOF (Degrees Of Freedom) mechanism presented in this paper is the basis of many research of the authors. There are many significant results for the presented mechanism, and some of them will be presented in this paper. The main goal of the research regarding the parallel mechanism is to create a hardware and software system that will be used to configure machine tools with three or more DOF. The software system consists of two parts. One part is a set of applications intended for machine analysis and defining optimal configuration, and the other part is a control system of the machine adapted to the hardware of the machine, its configuration and its purpose. For the presented mechanism, the kinematic model of the mechanism will be presented first. Based on the kinematic model, equations representing solutions of kinematic problems will be derived. The derived equations will be in a generalized form with some variable parameters of the machine and in such a form correspond to every possible configuration of the reconfigurable
mechanism. The equations will initially be used to analyse some basic configurations, and then to analyse some configurations that have not been analysed and presented so far. Also, equations in this form that are applicable for all possible configurations of mechanism, are part of both parts of software system. The final result of the presented procedures is one machine that has optimized parameters in accordance with the appropriate production process and with a configured control system that corresponds to the configuration of the machine.",
publisher = "Belgrade : Innovation Center of Faculty of Mechanical Engineering",
journal = "International Conference of Experimental and Numerical Investigations and New Technologies, CNN TECH 2021",
title = "Configuring a class of machines based on reconfigurable 2DOF planar parallel mechanism",
pages = "12-12",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4717"
}

Vasilić, G., Živanović, S., Kokotović, B., Dimić, Z.,& Milutinović, M.. (2021). Configuring a class of machines based on reconfigurable 2DOF planar parallel mechanism. in International Conference of Experimental and Numerical Investigations and New Technologies, CNN TECH 2021
Belgrade : Innovation Center of Faculty of Mechanical Engineering., 12-12.
https://hdl.handle.net/21.15107/rcub_machinery_4717

Vasilić G, Živanović S, Kokotović B, Dimić Z, Milutinović M. Configuring a class of machines based on reconfigurable 2DOF planar parallel mechanism. in International Conference of Experimental and Numerical Investigations and New Technologies, CNN TECH 2021. 2021;:12-12.
https://hdl.handle.net/21.15107/rcub_machinery_4717 .

Vasilić, Goran, Živanović, Saša, Kokotović, Branko, Dimić, Zoran, Milutinović, Milan, "Configuring a class of machines based on reconfigurable 2DOF planar parallel mechanism" in International Conference of Experimental and Numerical Investigations and New Technologies, CNN TECH 2021 (2021):12-12,
https://hdl.handle.net/21.15107/rcub_machinery_4717 .

TY  - JOUR
AU  - Slavković, Nikola
AU  - Živanović, Saša
AU  - Kokotović, Branko
AU  - Dimić, Zoran
AU  - Milutinović, Milan
PY  - 2020
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3388
AB  - Nowadays, industrial robots could be a successful alternative to machine tools for milling of large parts with complex geometry. As it is known, poor accuracy which is most influenced by the stiffness of robot structure is recognized as a limiting factor for successful use of robots in milling tasks. Since there are different sources of error in robots, virtual manufacturing systems provide a useful means for products to be manufactured without the need of physical testing on the shop floor. This paper presents the developed virtual robot machining model, as a part of digital twin, for the simulation of a modified tool path generated by the compensation algorithm for the errors induced by cutting forces due to robot compliance. This part of digital twin includes the robot kinematic model, the Cartesian space robot compliance model, the model of cutting forces and the developed program based on off-line compensation algorithm. Development of such virtual robot machining model is important for the validation of modified tool path before the machining on a real robot. The developed virtual robot machining model is verified via several experiments, where the simulated surfaces are compared with the real machined surfaces generated by tool movement through a modified, i.e., corrected, trajectory on an available industrial robot programmed in G-code.
PB  - Springer Heidelberg, Heidelberg
T2  - Journal of The Brazilian Society of Mechanical Sciences and Engineering
T1  - Simulation of compensated tool path through virtual robot machining model
IS  - 7
VL  - 42
DO  - 10.1007/s40430-020-02461-9
ER  - 

@article{
author = "Slavković, Nikola and Živanović, Saša and Kokotović, Branko and Dimić, Zoran and Milutinović, Milan",
year = "2020",
abstract = "Nowadays, industrial robots could be a successful alternative to machine tools for milling of large parts with complex geometry. As it is known, poor accuracy which is most influenced by the stiffness of robot structure is recognized as a limiting factor for successful use of robots in milling tasks. Since there are different sources of error in robots, virtual manufacturing systems provide a useful means for products to be manufactured without the need of physical testing on the shop floor. This paper presents the developed virtual robot machining model, as a part of digital twin, for the simulation of a modified tool path generated by the compensation algorithm for the errors induced by cutting forces due to robot compliance. This part of digital twin includes the robot kinematic model, the Cartesian space robot compliance model, the model of cutting forces and the developed program based on off-line compensation algorithm. Development of such virtual robot machining model is important for the validation of modified tool path before the machining on a real robot. The developed virtual robot machining model is verified via several experiments, where the simulated surfaces are compared with the real machined surfaces generated by tool movement through a modified, i.e., corrected, trajectory on an available industrial robot programmed in G-code.",
publisher = "Springer Heidelberg, Heidelberg",
journal = "Journal of The Brazilian Society of Mechanical Sciences and Engineering",
title = "Simulation of compensated tool path through virtual robot machining model",
number = "7",
volume = "42",
doi = "10.1007/s40430-020-02461-9"
}

Slavković, N., Živanović, S., Kokotović, B., Dimić, Z.,& Milutinović, M.. (2020). Simulation of compensated tool path through virtual robot machining model. in Journal of The Brazilian Society of Mechanical Sciences and Engineering
Springer Heidelberg, Heidelberg., 42(7).
https://doi.org/10.1007/s40430-020-02461-9

Slavković N, Živanović S, Kokotović B, Dimić Z, Milutinović M. Simulation of compensated tool path through virtual robot machining model. in Journal of The Brazilian Society of Mechanical Sciences and Engineering. 2020;42(7).
doi:10.1007/s40430-020-02461-9 .

Slavković, Nikola, Živanović, Saša, Kokotović, Branko, Dimić, Zoran, Milutinović, Milan, "Simulation of compensated tool path through virtual robot machining model" in Journal of The Brazilian Society of Mechanical Sciences and Engineering, 42, no. 7 (2020),
https://doi.org/10.1007/s40430-020-02461-9 . .

TY  - JOUR
AU  - Slavković, Nikola
AU  - Dimić, Zoran
AU  - Živanović, Saša
AU  - Milutinović, Milan
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2828
AB  - Industrijski roboti predstavljaju uspešnu alternativu 5-osnim mašinama alatkama za višeosnu obradu glodanjem delova od mekših materijala niže klase tačnosti. Iz ovih razloga se razvijaju softverska rešenja koja bi približila programiranje robota za obradu programiranju mašina alatki. U radu su predstavljeni rezultati kinematičkog modeliranja industrijskih robota vertikalne zglobne konfiguracije u cilju emuliranja horizontalnih 5-osnih mašina alatki. Na osnovu rešenja inverznog kinematičkog problema analiziran je radni prostor robota za obradu. Polazeći od jednačina direktne i inverzne kinematike razvijen je i sistem upravljanja i programiranja u G-kodu baziran na EMC2 softverskom sistemu. Razvijeni sistem upravljanja i programiranja omogućava upotrebu postojećih CAD/CAM sistema za programiranje 5-osnih mašina alatki, odnosno direktno je primenljiv od strane programera i operatera koji imaju iskustva u CNC tehnologijama i programiranju u G-kodu. Verifikacija kinematičkog modeliranja i razvijenog sistema upravljanja i programiranja je ostvarena eksperimentima obrade na rasploživom 6-oosnom robotu domaće proizvodnje LOLA 50.
AB  - Industrial robots are a proper alternative to 5-axis machine tools for multi-axis milling of parts from softer materials and lower tolerances. For these reasons, researchers develop software solutions to bring programming of machining robots closer to programming of machine tools. The paper presents the results of kinematic modeling of vertical articulated industrial robots to emulate 5-axis horizontal machine tools. The solution to the inverse kinematics problem was the basis for the analysis of the machining robot workspace. Starting from equations of direct and inverse kinematics the control and programming system in G-code was developed, based on EMC2 software system. Developed control and programming system enables use of the available CAD/CAM systems for programming 5-axis machine tools, i.e. it is directly applicable by programmers and operators experienced in CNC technologies and G-code programming. Verification of kinematic modeling and developed control and programming system was carried out by machining experiments on an available domestic 6-axis robot LOLA 50.
PB  - Univerzitet u Beogradu - Mašinski fakultet, Beograd
T2  - FME Transactions
T1  - Kinematičko modeliranje horizontalne 5-osne glodalice emulirane robotom vertikalne zglobne konfiguracije
T1  - Kinematic modeling of 5-axis horizontal milling machine emulated from vertical articulated robot
EP  - 56
IS  - 1
SP  - 46
VL  - 46
DO  - 10.5937/fmet1801046S
ER  - 

@article{
author = "Slavković, Nikola and Dimić, Zoran and Živanović, Saša and Milutinović, Milan",
year = "2018",
abstract = "Industrijski roboti predstavljaju uspešnu alternativu 5-osnim mašinama alatkama za višeosnu obradu glodanjem delova od mekših materijala niže klase tačnosti. Iz ovih razloga se razvijaju softverska rešenja koja bi približila programiranje robota za obradu programiranju mašina alatki. U radu su predstavljeni rezultati kinematičkog modeliranja industrijskih robota vertikalne zglobne konfiguracije u cilju emuliranja horizontalnih 5-osnih mašina alatki. Na osnovu rešenja inverznog kinematičkog problema analiziran je radni prostor robota za obradu. Polazeći od jednačina direktne i inverzne kinematike razvijen je i sistem upravljanja i programiranja u G-kodu baziran na EMC2 softverskom sistemu. Razvijeni sistem upravljanja i programiranja omogućava upotrebu postojećih CAD/CAM sistema za programiranje 5-osnih mašina alatki, odnosno direktno je primenljiv od strane programera i operatera koji imaju iskustva u CNC tehnologijama i programiranju u G-kodu. Verifikacija kinematičkog modeliranja i razvijenog sistema upravljanja i programiranja je ostvarena eksperimentima obrade na rasploživom 6-oosnom robotu domaće proizvodnje LOLA 50., Industrial robots are a proper alternative to 5-axis machine tools for multi-axis milling of parts from softer materials and lower tolerances. For these reasons, researchers develop software solutions to bring programming of machining robots closer to programming of machine tools. The paper presents the results of kinematic modeling of vertical articulated industrial robots to emulate 5-axis horizontal machine tools. The solution to the inverse kinematics problem was the basis for the analysis of the machining robot workspace. Starting from equations of direct and inverse kinematics the control and programming system in G-code was developed, based on EMC2 software system. Developed control and programming system enables use of the available CAD/CAM systems for programming 5-axis machine tools, i.e. it is directly applicable by programmers and operators experienced in CNC technologies and G-code programming. Verification of kinematic modeling and developed control and programming system was carried out by machining experiments on an available domestic 6-axis robot LOLA 50.",
publisher = "Univerzitet u Beogradu - Mašinski fakultet, Beograd",
journal = "FME Transactions",
title = "Kinematičko modeliranje horizontalne 5-osne glodalice emulirane robotom vertikalne zglobne konfiguracije, Kinematic modeling of 5-axis horizontal milling machine emulated from vertical articulated robot",
pages = "56-46",
number = "1",
volume = "46",
doi = "10.5937/fmet1801046S"
}

Slavković, N., Dimić, Z., Živanović, S.,& Milutinović, M.. (2018). Kinematičko modeliranje horizontalne 5-osne glodalice emulirane robotom vertikalne zglobne konfiguracije. in FME Transactions
Univerzitet u Beogradu - Mašinski fakultet, Beograd., 46(1), 46-56.
https://doi.org/10.5937/fmet1801046S

Slavković N, Dimić Z, Živanović S, Milutinović M. Kinematičko modeliranje horizontalne 5-osne glodalice emulirane robotom vertikalne zglobne konfiguracije. in FME Transactions. 2018;46(1):46-56.
doi:10.5937/fmet1801046S .

Slavković, Nikola, Dimić, Zoran, Živanović, Saša, Milutinović, Milan, "Kinematičko modeliranje horizontalne 5-osne glodalice emulirane robotom vertikalne zglobne konfiguracije" in FME Transactions, 46, no. 1 (2018):46-56,
https://doi.org/10.5937/fmet1801046S . .

TY  - CONF
AU  - Milutinović, Milan
AU  - Slavković, Nikola
AU  - Kokotović, Branko
AU  - Milutinović, Dragan
AU  - Živanović, Saša
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4728
AB  - In order to develop reconfigurable system for configuring and reconfiguring 3-4 DOF parallel robots and small 3-axis machine tools with rotary or translatory actuated joints, the generalized modelling approach is discussed. The results of a study on generalization of modelling approach without any use of non-actuated variables has been detailed reported in this paper.
PB  - Aristoteles University of Thessaloniki
C3  - Proceedings of the 6th International Conference on Manufacturing Engineering ICMEN 2017
T1  - Generalized kinematic modelling approach for reconfigurable parallel robots and machine tools based on delta concept
EP  - 40
SP  - 31
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4728
ER  - 

@conference{
author = "Milutinović, Milan and Slavković, Nikola and Kokotović, Branko and Milutinović, Dragan and Živanović, Saša",
year = "2017",
abstract = "In order to develop reconfigurable system for configuring and reconfiguring 3-4 DOF parallel robots and small 3-axis machine tools with rotary or translatory actuated joints, the generalized modelling approach is discussed. The results of a study on generalization of modelling approach without any use of non-actuated variables has been detailed reported in this paper.",
publisher = "Aristoteles University of Thessaloniki",
journal = "Proceedings of the 6th International Conference on Manufacturing Engineering ICMEN 2017",
title = "Generalized kinematic modelling approach for reconfigurable parallel robots and machine tools based on delta concept",
pages = "40-31",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4728"
}

Milutinović, M., Slavković, N., Kokotović, B., Milutinović, D.,& Živanović, S.. (2017). Generalized kinematic modelling approach for reconfigurable parallel robots and machine tools based on delta concept. in Proceedings of the 6th International Conference on Manufacturing Engineering ICMEN 2017
Aristoteles University of Thessaloniki., 31-40.
https://hdl.handle.net/21.15107/rcub_machinery_4728

Milutinović M, Slavković N, Kokotović B, Milutinović D, Živanović S. Generalized kinematic modelling approach for reconfigurable parallel robots and machine tools based on delta concept. in Proceedings of the 6th International Conference on Manufacturing Engineering ICMEN 2017. 2017;:31-40.
https://hdl.handle.net/21.15107/rcub_machinery_4728 .

Milutinović, Milan, Slavković, Nikola, Kokotović, Branko, Milutinović, Dragan, Živanović, Saša, "Generalized kinematic modelling approach for reconfigurable parallel robots and machine tools based on delta concept" in Proceedings of the 6th International Conference on Manufacturing Engineering ICMEN 2017 (2017):31-40,
https://hdl.handle.net/21.15107/rcub_machinery_4728 .

TY  - GEN
AU  - Slavković, Nikola
AU  - Milutinović, Dragan
AU  - Živanović, Saša
AU  - Kokotović, Branko
AU  - Milutinović, Milan
PY  - 2016
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4777
AB  - Како постоjећи on-line и off-line приступи компензациjе нису применљиве у реалним индустриjским условима на данашњем нивоу, то jе на основу развиjеног система управљања и програмирања робота у G-коду развиjен off-line метод компензациjе грешака изазваних силама резања коjе се могу израчунавати постоjећим моделима. Оваj метод jе базиран на модификациjи програмиране путање алата, односно на корекциjи G-кода. Развоj оваквог метода off-line компензациjе грешака обраде изазваних силама резања код робота коjи се програмираjу у G-коду ствара реалне претпоставке за њихову практичну примену. Развиjени метод не захтева улагања у софтвер, адаптациjу управљачког система и набавку сензора, а при том омогућава примену постоjећих CAD/CAM система за програмирање 5-осних машина алатки базираних на G-коду. Ово значи да jе директно применљив од стране програмера и оператера коjи имаjу искуства у CNC технологиjи и програмирању у G-коду.
T2  - Техничко решење је прихваћено од стране Матичног научног одбора за машинство и индустријски софтвер.
T1  - Метод компензације грешака изазваних силама резања при обради роботима -Техничко решење
EP  - 22
SP  - 1
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4777
ER  - 

@misc{
author = "Slavković, Nikola and Milutinović, Dragan and Živanović, Saša and Kokotović, Branko and Milutinović, Milan",
year = "2016",
abstract = "Како постоjећи on-line и off-line приступи компензациjе нису применљиве у реалним индустриjским условима на данашњем нивоу, то jе на основу развиjеног система управљања и програмирања робота у G-коду развиjен off-line метод компензациjе грешака изазваних силама резања коjе се могу израчунавати постоjећим моделима. Оваj метод jе базиран на модификациjи програмиране путање алата, односно на корекциjи G-кода. Развоj оваквог метода off-line компензациjе грешака обраде изазваних силама резања код робота коjи се програмираjу у G-коду ствара реалне претпоставке за њихову практичну примену. Развиjени метод не захтева улагања у софтвер, адаптациjу управљачког система и набавку сензора, а при том омогућава примену постоjећих CAD/CAM система за програмирање 5-осних машина алатки базираних на G-коду. Ово значи да jе директно применљив од стране програмера и оператера коjи имаjу искуства у CNC технологиjи и програмирању у G-коду.",
journal = "Техничко решење је прихваћено од стране Матичног научног одбора за машинство и индустријски софтвер.",
title = "Метод компензације грешака изазваних силама резања при обради роботима -Техничко решење",
pages = "22-1",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4777"
}

Slavković, N., Milutinović, D., Živanović, S., Kokotović, B.,& Milutinović, M.. (2016). Метод компензације грешака изазваних силама резања при обради роботима -Техничко решење. in Техничко решење је прихваћено од стране Матичног научног одбора за машинство и индустријски софтвер., 1-22.
https://hdl.handle.net/21.15107/rcub_machinery_4777

Slavković N, Milutinović D, Živanović S, Kokotović B, Milutinović M. Метод компензације грешака изазваних силама резања при обради роботима -Техничко решење. in Техничко решење је прихваћено од стране Матичног научног одбора за машинство и индустријски софтвер.. 2016;:1-22.
https://hdl.handle.net/21.15107/rcub_machinery_4777 .

Slavković, Nikola, Milutinović, Dragan, Živanović, Saša, Kokotović, Branko, Milutinović, Milan, "Метод компензације грешака изазваних силама резања при обради роботима -Техничко решење" in Техничко решење је прихваћено од стране Матичног научног одбора за машинство и индустријски софтвер. (2016):1-22,
https://hdl.handle.net/21.15107/rcub_machinery_4777 .

TY  - JOUR
AU  - Milutinović, Milan
AU  - Slavković, Nikola
AU  - Milutinović, Dragan
PY  - 2013
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/1776
AB  - Paralelne strukture mašina alatki i robota u odnosu na serijske strukture imaju niz prednosti. Za gradnju paralelnih mašina alatki i robota danas se koristi veći broj mehanizama sa paralelnom kinematikom različitih topologija sa 3 do 6 stepeni slobode. Međutim, s obzirom na izvesna ograničenja paralelnih mehanizama intenzivirana su istraživanja na iznalaženju mehanizama hibridnih arhitektura kao kombinacija paralelnih i serijskih struktura. U radu su predstavljeni rezultati kinematičkog modeliranja hibridne paralelno-serijske petoosne mašine alatke na bazi Tricept mehanizma. Kako ovakva mašina uključuje paralelnu strukturu sa tri stepena slobode i serijsku strukturu sa dva stepena slobode, to rešenja problema inverzne i direktne kinematike takođe uključuju paralelni i serijski deo. Inverzni kinematički problem je rešen analitički dok rešenje direktnog kinematičkog problema sadrži analitički i numerički deo. Na osnovu rešenja inverznog kinematičkog problema analiziran je radni prostor u cilju izbora projektnih parametara prototipa.
AB  - Compared with serial structured machine tools and robots, parallel kinematic machine tools and robots have many advantages. Many different topologies of parallel mechanisms with 3-6 DOF have been used. Considering that some limitations are indeed due to the use of parallel mechanisms, it is appealing to investigate architectures based on hybrid arrangements where serial and parallel concepts are combined. This paper is aimed at presenting a study on the kinematic modeling of the Tricept based five-axis vertical machine tool. Since the machine comprises 3-DOF parallel structure and 2-DOF serial wrist direct and inverse kinematics also comprise serial and parallel part. Inverse kinematics is solved analytically while direct kinematics consists of an analytical and numerical part. Based on machine inverse kinematics, the workspace has been analyzed in order to select machine prototype design parameters.
PB  - Univerzitet u Beogradu - Mašinski fakultet, Beograd
T2  - FME Transactions
T1  - Kinematičko modeliranje hibridne paralelno-serijske petoosne mašine alatke
T1  - Kinematic modeling of hybrid parallel serial five-axis machine tool
EP  - 10
IS  - 1
SP  - 1
VL  - 41
UR  - https://hdl.handle.net/21.15107/rcub_machinery_1776
ER  - 

@article{
author = "Milutinović, Milan and Slavković, Nikola and Milutinović, Dragan",
year = "2013",
abstract = "Paralelne strukture mašina alatki i robota u odnosu na serijske strukture imaju niz prednosti. Za gradnju paralelnih mašina alatki i robota danas se koristi veći broj mehanizama sa paralelnom kinematikom različitih topologija sa 3 do 6 stepeni slobode. Međutim, s obzirom na izvesna ograničenja paralelnih mehanizama intenzivirana su istraživanja na iznalaženju mehanizama hibridnih arhitektura kao kombinacija paralelnih i serijskih struktura. U radu su predstavljeni rezultati kinematičkog modeliranja hibridne paralelno-serijske petoosne mašine alatke na bazi Tricept mehanizma. Kako ovakva mašina uključuje paralelnu strukturu sa tri stepena slobode i serijsku strukturu sa dva stepena slobode, to rešenja problema inverzne i direktne kinematike takođe uključuju paralelni i serijski deo. Inverzni kinematički problem je rešen analitički dok rešenje direktnog kinematičkog problema sadrži analitički i numerički deo. Na osnovu rešenja inverznog kinematičkog problema analiziran je radni prostor u cilju izbora projektnih parametara prototipa., Compared with serial structured machine tools and robots, parallel kinematic machine tools and robots have many advantages. Many different topologies of parallel mechanisms with 3-6 DOF have been used. Considering that some limitations are indeed due to the use of parallel mechanisms, it is appealing to investigate architectures based on hybrid arrangements where serial and parallel concepts are combined. This paper is aimed at presenting a study on the kinematic modeling of the Tricept based five-axis vertical machine tool. Since the machine comprises 3-DOF parallel structure and 2-DOF serial wrist direct and inverse kinematics also comprise serial and parallel part. Inverse kinematics is solved analytically while direct kinematics consists of an analytical and numerical part. Based on machine inverse kinematics, the workspace has been analyzed in order to select machine prototype design parameters.",
publisher = "Univerzitet u Beogradu - Mašinski fakultet, Beograd",
journal = "FME Transactions",
title = "Kinematičko modeliranje hibridne paralelno-serijske petoosne mašine alatke, Kinematic modeling of hybrid parallel serial five-axis machine tool",
pages = "10-1",
number = "1",
volume = "41",
url = "https://hdl.handle.net/21.15107/rcub_machinery_1776"
}

Milutinović, M., Slavković, N.,& Milutinović, D.. (2013). Kinematičko modeliranje hibridne paralelno-serijske petoosne mašine alatke. in FME Transactions
Univerzitet u Beogradu - Mašinski fakultet, Beograd., 41(1), 1-10.
https://hdl.handle.net/21.15107/rcub_machinery_1776

Milutinović M, Slavković N, Milutinović D. Kinematičko modeliranje hibridne paralelno-serijske petoosne mašine alatke. in FME Transactions. 2013;41(1):1-10.
https://hdl.handle.net/21.15107/rcub_machinery_1776 .

Milutinović, Milan, Slavković, Nikola, Milutinović, Dragan, "Kinematičko modeliranje hibridne paralelno-serijske petoosne mašine alatke" in FME Transactions, 41, no. 1 (2013):1-10,
https://hdl.handle.net/21.15107/rcub_machinery_1776 .

TY  - GEN
AU  - Milutinović, Dragan
AU  - Slavković, Nikola
AU  - Kokotović, Branko
AU  - Dimić, Zoran
AU  - Glavonjić, Miloš
AU  - Milutinović, Milan
AU  - Živanović, Saša
PY  - 2012
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4773
AB  - Osnovu za projektovanje, upravljanje i izradu DELTA robota sa, danas zahtevanim visokim performansama, čini rešavanje problema kinematičkog modeliranja koje je veoma složeno. Naša dosadašnja istraživanja na problemu kinematičkog modeliranja DELTA robota su rezultirala razvojem novog pristupa kinematičkog modeliranja na bazi minimalnog broja parametara, što ga čini efikasnijim od postojećih pristupa ne samo u pogledu projektovanja, izrade, upravljanja i programiranja već i u pogledu razvoja efikasnih algoritama za kalibraciju i kompenzaciju. Ovaj ključni rezultat našeg istraživanja je bio osnova za razvoj prvog domaćeg DELTA robota odnosno ovog Tehničkog rešenja.
T2  - Tehničko rešenje je prihvaćeno od strane Matičnog naučnog odbora za mašinstvo i industrijski softver.
T1  - Paralelni DELTA robot za pakovanje proizvoda konditorske i farmaceutske industrije i montažu mikro komponenata - Tehničko rešenje
EP  - 23
SP  - 1
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4773
ER  - 

@misc{
author = "Milutinović, Dragan and Slavković, Nikola and Kokotović, Branko and Dimić, Zoran and Glavonjić, Miloš and Milutinović, Milan and Živanović, Saša",
year = "2012",
abstract = "Osnovu za projektovanje, upravljanje i izradu DELTA robota sa, danas zahtevanim visokim performansama, čini rešavanje problema kinematičkog modeliranja koje je veoma složeno. Naša dosadašnja istraživanja na problemu kinematičkog modeliranja DELTA robota su rezultirala razvojem novog pristupa kinematičkog modeliranja na bazi minimalnog broja parametara, što ga čini efikasnijim od postojećih pristupa ne samo u pogledu projektovanja, izrade, upravljanja i programiranja već i u pogledu razvoja efikasnih algoritama za kalibraciju i kompenzaciju. Ovaj ključni rezultat našeg istraživanja je bio osnova za razvoj prvog domaćeg DELTA robota odnosno ovog Tehničkog rešenja.",
journal = "Tehničko rešenje je prihvaćeno od strane Matičnog naučnog odbora za mašinstvo i industrijski softver.",
title = "Paralelni DELTA robot za pakovanje proizvoda konditorske i farmaceutske industrije i montažu mikro komponenata - Tehničko rešenje",
pages = "23-1",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4773"
}

Milutinović, D., Slavković, N., Kokotović, B., Dimić, Z., Glavonjić, M., Milutinović, M.,& Živanović, S.. (2012). Paralelni DELTA robot za pakovanje proizvoda konditorske i farmaceutske industrije i montažu mikro komponenata - Tehničko rešenje. in Tehničko rešenje je prihvaćeno od strane Matičnog naučnog odbora za mašinstvo i industrijski softver., 1-23.
https://hdl.handle.net/21.15107/rcub_machinery_4773

Milutinović D, Slavković N, Kokotović B, Dimić Z, Glavonjić M, Milutinović M, Živanović S. Paralelni DELTA robot za pakovanje proizvoda konditorske i farmaceutske industrije i montažu mikro komponenata - Tehničko rešenje. in Tehničko rešenje je prihvaćeno od strane Matičnog naučnog odbora za mašinstvo i industrijski softver.. 2012;:1-23.
https://hdl.handle.net/21.15107/rcub_machinery_4773 .

Milutinović, Dragan, Slavković, Nikola, Kokotović, Branko, Dimić, Zoran, Glavonjić, Miloš, Milutinović, Milan, Živanović, Saša, "Paralelni DELTA robot za pakovanje proizvoda konditorske i farmaceutske industrije i montažu mikro komponenata - Tehničko rešenje" in Tehničko rešenje je prihvaćeno od strane Matičnog naučnog odbora za mašinstvo i industrijski softver. (2012):1-23,
https://hdl.handle.net/21.15107/rcub_machinery_4773 .

TY  - JOUR
AU  - Milutinović, Dragan
AU  - Slavković, Nikola
AU  - Kokotović, Branko
AU  - Živanović, Saša
AU  - Milutinović, Milan
AU  - Dimić, Zoran
PY  - 2012
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/1427
AB  - U cilju razvoja rekonfigurabilnog DELTA robota sa rotaciono i translatorno pomeranim zglobovima, razmatran je generalizovan pristup modelovanju. U ovom radu je prikazan rezultat studije generalizacije modelovanja bez korišćenja neaktivacione promenljive.
AB  - In order to develop reconfigurable DELTA robot with rotary and translatory actuated joints the generalized modeling approach is discussed. The results of a study on generalization of modeling approach without any use of non-actuated variables has been reported in this paper.
PB  - Univerzitet u Novom Sadu - Fakultet tehničkih nauka - Departman za proizvodno mašinstvo, Novi Sad
T2  - Journal of Production Engineering
T1  - Kinematsko modelovanje rekonfigurabilnog paralelnog robota baziranog na DELTA konceptu
T1  - Kinematic modeling of reconfigurable parallel robots based on DELTA concept
EP  - 74
IS  - 2
SP  - 71
VL  - 15
UR  - https://hdl.handle.net/21.15107/rcub_machinery_1427
ER  - 

@article{
author = "Milutinović, Dragan and Slavković, Nikola and Kokotović, Branko and Živanović, Saša and Milutinović, Milan and Dimić, Zoran",
year = "2012",
abstract = "U cilju razvoja rekonfigurabilnog DELTA robota sa rotaciono i translatorno pomeranim zglobovima, razmatran je generalizovan pristup modelovanju. U ovom radu je prikazan rezultat studije generalizacije modelovanja bez korišćenja neaktivacione promenljive., In order to develop reconfigurable DELTA robot with rotary and translatory actuated joints the generalized modeling approach is discussed. The results of a study on generalization of modeling approach without any use of non-actuated variables has been reported in this paper.",
publisher = "Univerzitet u Novom Sadu - Fakultet tehničkih nauka - Departman za proizvodno mašinstvo, Novi Sad",
journal = "Journal of Production Engineering",
title = "Kinematsko modelovanje rekonfigurabilnog paralelnog robota baziranog na DELTA konceptu, Kinematic modeling of reconfigurable parallel robots based on DELTA concept",
pages = "74-71",
number = "2",
volume = "15",
url = "https://hdl.handle.net/21.15107/rcub_machinery_1427"
}

Milutinović, D., Slavković, N., Kokotović, B., Živanović, S., Milutinović, M.,& Dimić, Z.. (2012). Kinematsko modelovanje rekonfigurabilnog paralelnog robota baziranog na DELTA konceptu. in Journal of Production Engineering
Univerzitet u Novom Sadu - Fakultet tehničkih nauka - Departman za proizvodno mašinstvo, Novi Sad., 15(2), 71-74.
https://hdl.handle.net/21.15107/rcub_machinery_1427

Milutinović D, Slavković N, Kokotović B, Živanović S, Milutinović M, Dimić Z. Kinematsko modelovanje rekonfigurabilnog paralelnog robota baziranog na DELTA konceptu. in Journal of Production Engineering. 2012;15(2):71-74.
https://hdl.handle.net/21.15107/rcub_machinery_1427 .

Milutinović, Dragan, Slavković, Nikola, Kokotović, Branko, Živanović, Saša, Milutinović, Milan, Dimić, Zoran, "Kinematsko modelovanje rekonfigurabilnog paralelnog robota baziranog na DELTA konceptu" in Journal of Production Engineering, 15, no. 2 (2012):71-74,
https://hdl.handle.net/21.15107/rcub_machinery_1427 .

TY  - CONF
AU  - Milutinović, Dragan
AU  - Slavković, Nikola
AU  - Kokotović, Branko
AU  - Milutinović, Milan
AU  - Živanović, Saša
AU  - Dimić, Zoran
PY  - 2012
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4652
AB  - In order to develop reconfigurable DELTA robot with rotary and translatory actuated joints the
generalized modeling approach is discussed. The results of a study on generalization of modeling approach without any use of non-actuated variables has been reported in this paper.
PB  - University of Novi Sad, Faculty of Technical Scienes, Department for Production Engineering
C3  - Proceedings of the 11th International Scientific Conference MMA 2012 – Advanced Production Technologies, Novi Sad, Serbia, September 20-21, 2012
T1  - Kinematic modeling of reconfigurable parallel robots based on DELTA concept
EP  - 262
SP  - 259
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4652
ER  - 

@conference{
author = "Milutinović, Dragan and Slavković, Nikola and Kokotović, Branko and Milutinović, Milan and Živanović, Saša and Dimić, Zoran",
year = "2012",
abstract = "In order to develop reconfigurable DELTA robot with rotary and translatory actuated joints the
generalized modeling approach is discussed. The results of a study on generalization of modeling approach without any use of non-actuated variables has been reported in this paper.",
publisher = "University of Novi Sad, Faculty of Technical Scienes, Department for Production Engineering",
journal = "Proceedings of the 11th International Scientific Conference MMA 2012 – Advanced Production Technologies, Novi Sad, Serbia, September 20-21, 2012",
title = "Kinematic modeling of reconfigurable parallel robots based on DELTA concept",
pages = "262-259",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4652"
}

Milutinović, D., Slavković, N., Kokotović, B., Milutinović, M., Živanović, S.,& Dimić, Z.. (2012). Kinematic modeling of reconfigurable parallel robots based on DELTA concept. in Proceedings of the 11th International Scientific Conference MMA 2012 – Advanced Production Technologies, Novi Sad, Serbia, September 20-21, 2012
University of Novi Sad, Faculty of Technical Scienes, Department for Production Engineering., 259-262.
https://hdl.handle.net/21.15107/rcub_machinery_4652

Milutinović D, Slavković N, Kokotović B, Milutinović M, Živanović S, Dimić Z. Kinematic modeling of reconfigurable parallel robots based on DELTA concept. in Proceedings of the 11th International Scientific Conference MMA 2012 – Advanced Production Technologies, Novi Sad, Serbia, September 20-21, 2012. 2012;:259-262.
https://hdl.handle.net/21.15107/rcub_machinery_4652 .

Milutinović, Dragan, Slavković, Nikola, Kokotović, Branko, Milutinović, Milan, Živanović, Saša, Dimić, Zoran, "Kinematic modeling of reconfigurable parallel robots based on DELTA concept" in Proceedings of the 11th International Scientific Conference MMA 2012 – Advanced Production Technologies, Novi Sad, Serbia, September 20-21, 2012 (2012):259-262,
https://hdl.handle.net/21.15107/rcub_machinery_4652 .

TY  - CONF
AU  - Milutinović, Milan
AU  - Slavković, Nikola
AU  - Milutinović, Dragan
PY  - 2012
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4703
AB  - This paper is aimed in presenting a study on the kinematic modeling of the Tricept based five-axis vertical machine tool. Since the machine comprises 3-DOF parallel structure and 2-DOF serial wrist kinematic modeling also comprises serial and parallel part. As solution of direct and inverse kinematics of 2-DOF serial wrist is well known the study in this paper will focus on the parallel structure only.
PB  - University of Novi Sad, Faculty of Technical Sciences, Department of Production Engineering
C3  - Proceedings of 11th International Scientific Conference MMA 2012 – Advanced Production Technologies
T1  - Kinematic modeling of the TRICEPT based 5-Axis machine tool
EP  - 78
SP  - 73
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4703
ER  - 

@conference{
author = "Milutinović, Milan and Slavković, Nikola and Milutinović, Dragan",
year = "2012",
abstract = "This paper is aimed in presenting a study on the kinematic modeling of the Tricept based five-axis vertical machine tool. Since the machine comprises 3-DOF parallel structure and 2-DOF serial wrist kinematic modeling also comprises serial and parallel part. As solution of direct and inverse kinematics of 2-DOF serial wrist is well known the study in this paper will focus on the parallel structure only.",
publisher = "University of Novi Sad, Faculty of Technical Sciences, Department of Production Engineering",
journal = "Proceedings of 11th International Scientific Conference MMA 2012 – Advanced Production Technologies",
title = "Kinematic modeling of the TRICEPT based 5-Axis machine tool",
pages = "78-73",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4703"
}

Milutinović, M., Slavković, N.,& Milutinović, D.. (2012). Kinematic modeling of the TRICEPT based 5-Axis machine tool. in Proceedings of 11th International Scientific Conference MMA 2012 – Advanced Production Technologies
University of Novi Sad, Faculty of Technical Sciences, Department of Production Engineering., 73-78.
https://hdl.handle.net/21.15107/rcub_machinery_4703

Milutinović M, Slavković N, Milutinović D. Kinematic modeling of the TRICEPT based 5-Axis machine tool. in Proceedings of 11th International Scientific Conference MMA 2012 – Advanced Production Technologies. 2012;:73-78.
https://hdl.handle.net/21.15107/rcub_machinery_4703 .

Milutinović, Milan, Slavković, Nikola, Milutinović, Dragan, "Kinematic modeling of the TRICEPT based 5-Axis machine tool" in Proceedings of 11th International Scientific Conference MMA 2012 – Advanced Production Technologies (2012):73-78,
https://hdl.handle.net/21.15107/rcub_machinery_4703 .

TY  - JOUR
AU  - Milutinović, Milan
AU  - Slavković, Nikola
AU  - Milutinović, Dragan
PY  - 2012
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/1412
AB  - Cilj ovog rada je da predstavi kinematsko modelovanje Tricept osnove peto-osne vertikalne mašine alatke. Pošto mašina obuhvata paralelnu strukturu (3 stepena slobode kretanja) i serijski zglob (2 stepena slobode kretanja), kinematsko modelovanje takođe obuhvata serijski i paralelni deo. Kao direktno rešenje i inverzna kinematika serijskog zgloba je dobro poznata pa će se ovoj rad fokusirati samo na paralelne strukture.
AB  - This paper is aimed in presenting a study on the kinematic modeling of the Tricept based five-axis vertical machine tool. Since the machine comprises 3-DOF parallel structure and 2-DOF serial wrist kinematic modeling also comprises serial and parallel part. As solution of direct and inverse kinematics of 2-DOF serial wrist is well known the study in this paper will focus on the parallel structure only.
PB  - Univerzitet u Novom Sadu - Fakultet tehničkih nauka - Departman za proizvodno mašinstvo, Novi Sad
T2  - Journal of Production Engineering
T1  - Kinematsko modelovanje Tricept osnove 5-osne mašine alatke
T1  - Kinematic modeling of the Tricept based 5-axis machine tool
EP  - 46
IS  - 2
SP  - 41
VL  - 15
UR  - https://hdl.handle.net/21.15107/rcub_machinery_1412
ER  - 

@article{
author = "Milutinović, Milan and Slavković, Nikola and Milutinović, Dragan",
year = "2012",
abstract = "Cilj ovog rada je da predstavi kinematsko modelovanje Tricept osnove peto-osne vertikalne mašine alatke. Pošto mašina obuhvata paralelnu strukturu (3 stepena slobode kretanja) i serijski zglob (2 stepena slobode kretanja), kinematsko modelovanje takođe obuhvata serijski i paralelni deo. Kao direktno rešenje i inverzna kinematika serijskog zgloba je dobro poznata pa će se ovoj rad fokusirati samo na paralelne strukture., This paper is aimed in presenting a study on the kinematic modeling of the Tricept based five-axis vertical machine tool. Since the machine comprises 3-DOF parallel structure and 2-DOF serial wrist kinematic modeling also comprises serial and parallel part. As solution of direct and inverse kinematics of 2-DOF serial wrist is well known the study in this paper will focus on the parallel structure only.",
publisher = "Univerzitet u Novom Sadu - Fakultet tehničkih nauka - Departman za proizvodno mašinstvo, Novi Sad",
journal = "Journal of Production Engineering",
title = "Kinematsko modelovanje Tricept osnove 5-osne mašine alatke, Kinematic modeling of the Tricept based 5-axis machine tool",
pages = "46-41",
number = "2",
volume = "15",
url = "https://hdl.handle.net/21.15107/rcub_machinery_1412"
}

Milutinović, M., Slavković, N.,& Milutinović, D.. (2012). Kinematsko modelovanje Tricept osnove 5-osne mašine alatke. in Journal of Production Engineering
Univerzitet u Novom Sadu - Fakultet tehničkih nauka - Departman za proizvodno mašinstvo, Novi Sad., 15(2), 41-46.
https://hdl.handle.net/21.15107/rcub_machinery_1412

Milutinović M, Slavković N, Milutinović D. Kinematsko modelovanje Tricept osnove 5-osne mašine alatke. in Journal of Production Engineering. 2012;15(2):41-46.
https://hdl.handle.net/21.15107/rcub_machinery_1412 .

Milutinović, Milan, Slavković, Nikola, Milutinović, Dragan, "Kinematsko modelovanje Tricept osnove 5-osne mašine alatke" in Journal of Production Engineering, 15, no. 2 (2012):41-46,
https://hdl.handle.net/21.15107/rcub_machinery_1412 .

TY  - CONF
AU  - Milutinović, Dragan
AU  - Glavonjić, Miloš
AU  - Slavković, Nikola
AU  - Kokotović, Branko
AU  - Milutinović, Milan
AU  - Živanović, Saša
AU  - Dimić, Zoran
PY  - 2011
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4807
AB  - Industrial robots are promising cost-effective and flexible alternative for certain multi-axis milling applications. The paper describes machining robot for complex parts of light materials with lower tolerances having freeform surfaces. For the experimental configuration of a 5-axis machining robot modelling approach and prototype of developed control system with programming in G-code are shown. The experimental prototype of low-cost control and programming system has been verified by successful machining of several test work pieces of light materials.
PB  - Faculty of Mechanical Engineering Banja Luka
C3  - Proceedings of the 10th Anniversary International Conference on Accomplisments in Electrical and Mechanical Engineering and Information Technology DEMI 2011
T1  - Machining robot controlled and programmed as a machine tool
EP  - 873
SP  - 863
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4807
ER  - 

@conference{
author = "Milutinović, Dragan and Glavonjić, Miloš and Slavković, Nikola and Kokotović, Branko and Milutinović, Milan and Živanović, Saša and Dimić, Zoran",
year = "2011",
abstract = "Industrial robots are promising cost-effective and flexible alternative for certain multi-axis milling applications. The paper describes machining robot for complex parts of light materials with lower tolerances having freeform surfaces. For the experimental configuration of a 5-axis machining robot modelling approach and prototype of developed control system with programming in G-code are shown. The experimental prototype of low-cost control and programming system has been verified by successful machining of several test work pieces of light materials.",
publisher = "Faculty of Mechanical Engineering Banja Luka",
journal = "Proceedings of the 10th Anniversary International Conference on Accomplisments in Electrical and Mechanical Engineering and Information Technology DEMI 2011",
title = "Machining robot controlled and programmed as a machine tool",
pages = "873-863",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4807"
}

Milutinović, D., Glavonjić, M., Slavković, N., Kokotović, B., Milutinović, M., Živanović, S.,& Dimić, Z.. (2011). Machining robot controlled and programmed as a machine tool. in Proceedings of the 10th Anniversary International Conference on Accomplisments in Electrical and Mechanical Engineering and Information Technology DEMI 2011
Faculty of Mechanical Engineering Banja Luka., 863-873.
https://hdl.handle.net/21.15107/rcub_machinery_4807

Milutinović D, Glavonjić M, Slavković N, Kokotović B, Milutinović M, Živanović S, Dimić Z. Machining robot controlled and programmed as a machine tool. in Proceedings of the 10th Anniversary International Conference on Accomplisments in Electrical and Mechanical Engineering and Information Technology DEMI 2011. 2011;:863-873.
https://hdl.handle.net/21.15107/rcub_machinery_4807 .

Milutinović, Dragan, Glavonjić, Miloš, Slavković, Nikola, Kokotović, Branko, Milutinović, Milan, Živanović, Saša, Dimić, Zoran, "Machining robot controlled and programmed as a machine tool" in Proceedings of the 10th Anniversary International Conference on Accomplisments in Electrical and Mechanical Engineering and Information Technology DEMI 2011 (2011):863-873,
https://hdl.handle.net/21.15107/rcub_machinery_4807 .

TY  - GEN
AU  - Tanović, Ljubodrag
AU  - Bojanić, Pavao
AU  - Puzović, Radovan
AU  - Popović, Mihajlo
AU  - Milutinović, Milan
AU  - Mladenović, Goran
PY  - 2010
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/6950
AB  - Tehničko rešenje pripada oblasti novih metoda u domenu proizvodnih tehnologija.
PB  - Univerzitet u Beogradu - Mašinski fakultet
T2  - Univerzitet u Beogradu - Mašinski fakultet
T1  - Nova metoda projektovanja i tehnologije izrade profilnih prizmatičnih – tangencijalnih strugarskih noževa
UR  - https://hdl.handle.net/21.15107/rcub_machinery_6950
ER  - 

@misc{
author = "Tanović, Ljubodrag and Bojanić, Pavao and Puzović, Radovan and Popović, Mihajlo and Milutinović, Milan and Mladenović, Goran",
year = "2010",
abstract = "Tehničko rešenje pripada oblasti novih metoda u domenu proizvodnih tehnologija.",
publisher = "Univerzitet u Beogradu - Mašinski fakultet",
journal = "Univerzitet u Beogradu - Mašinski fakultet",
title = "Nova metoda projektovanja i tehnologije izrade profilnih prizmatičnih – tangencijalnih strugarskih noževa",
url = "https://hdl.handle.net/21.15107/rcub_machinery_6950"
}

Tanović, L., Bojanić, P., Puzović, R., Popović, M., Milutinović, M.,& Mladenović, G.. (2010). Nova metoda projektovanja i tehnologije izrade profilnih prizmatičnih – tangencijalnih strugarskih noževa. in Univerzitet u Beogradu - Mašinski fakultet
Univerzitet u Beogradu - Mašinski fakultet..
https://hdl.handle.net/21.15107/rcub_machinery_6950

Tanović L, Bojanić P, Puzović R, Popović M, Milutinović M, Mladenović G. Nova metoda projektovanja i tehnologije izrade profilnih prizmatičnih – tangencijalnih strugarskih noževa. in Univerzitet u Beogradu - Mašinski fakultet. 2010;.
https://hdl.handle.net/21.15107/rcub_machinery_6950 .

Tanović, Ljubodrag, Bojanić, Pavao, Puzović, Radovan, Popović, Mihajlo, Milutinović, Milan, Mladenović, Goran, "Nova metoda projektovanja i tehnologije izrade profilnih prizmatičnih – tangencijalnih strugarskih noževa" in Univerzitet u Beogradu - Mašinski fakultet (2010),
https://hdl.handle.net/21.15107/rcub_machinery_6950 .