TY  - PAT
AU  - Živanović, Saša
AU  - Vorkapić, Nikola
AU  - Slavković, Nikola
AU  - Dimić, Zoran
AU  - Vidaković, Jelena
PY  - 2024-04-01
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7790
AB  - Pronalazak se odnosi na multifunkcionalnu i rekonfigurabilnu mašinu alatku za brzu izradu prototipova koja predstavlja novi koncept 3-osne CNC mašine sa horizontalnom obrtnom osom, koja radi u polarno-cilindričnim koordinatama i omogućava jedinstvenu integraciju tri proizvodne tehnologije na jednoj mašini: glodanje, lasersku obradu i dodavanje materijala (3D štampanje). Mašina svoju rekonfigurabilnost ostvaruje zamenom završnih uređaja koji mogu biti glava za glodanje, laserska glava ili glava za 3D štampu, uz razvijeni rekonfigurabilni upravljački softver koji podržava sve tri tehnologije. Mašina se sastoji od nepokretne noseće strukture (1), na kojoj se nalaze horizontalne vođice (10) po kojima je klizno pomerljiv klizač (9) ose X na kome se nalaze vođice (12) po kojima je klizno pomerljiv klizač (11) ose Z, na koji se postavlja ili glavno vreteno (13A) ili laserska glava (13B) ili glava za 3D štampu (13C) kao završni uređaj. Noseća struktura (1) sadrži se i obrtnu osu A’ koju čine pogonski motor (3) koji pomoću kaišnog para (19) prenosi obrtni moment na obrtno vreteno (2), uležišteno nosačima (20) ležaja, sa steznom glavom (21) gde se postavlja obradak. Na nosećoj strukturi (1) se nalaze i vođice (15) po kojima je klizno pomerljiv nosač (14) zadnjeg šiljka koji se koristi kao dodatni oslonac pri stezanju dužih obradaka u cilju povećanja krutosti.
PB  - Zavod za intelektualnu svojinu, Beograd, Knjeginje Ljubice 5
T2  - Broj 1805 U1, Isprava o malom patentu od 01.4.2024.
T1  - Multifunkcionalna i rekonfigurabilna mašina alatka za brzu izradu prototipova glodanjem, laserskom obradom i dodavanjem materijala u polarno cilindričnim koordinatama
EP  - 9
SP  - 1
UR  - https://hdl.handle.net/21.15107/rcub_machinery_7790
ER  - 

@misc{
author = "Živanović, Saša and Vorkapić, Nikola and Slavković, Nikola and Dimić, Zoran and Vidaković, Jelena",
year = "2024-04-01",
abstract = "Pronalazak se odnosi na multifunkcionalnu i rekonfigurabilnu mašinu alatku za brzu izradu prototipova koja predstavlja novi koncept 3-osne CNC mašine sa horizontalnom obrtnom osom, koja radi u polarno-cilindričnim koordinatama i omogućava jedinstvenu integraciju tri proizvodne tehnologije na jednoj mašini: glodanje, lasersku obradu i dodavanje materijala (3D štampanje). Mašina svoju rekonfigurabilnost ostvaruje zamenom završnih uređaja koji mogu biti glava za glodanje, laserska glava ili glava za 3D štampu, uz razvijeni rekonfigurabilni upravljački softver koji podržava sve tri tehnologije. Mašina se sastoji od nepokretne noseće strukture (1), na kojoj se nalaze horizontalne vođice (10) po kojima je klizno pomerljiv klizač (9) ose X na kome se nalaze vođice (12) po kojima je klizno pomerljiv klizač (11) ose Z, na koji se postavlja ili glavno vreteno (13A) ili laserska glava (13B) ili glava za 3D štampu (13C) kao završni uređaj. Noseća struktura (1) sadrži se i obrtnu osu A’ koju čine pogonski motor (3) koji pomoću kaišnog para (19) prenosi obrtni moment na obrtno vreteno (2), uležišteno nosačima (20) ležaja, sa steznom glavom (21) gde se postavlja obradak. Na nosećoj strukturi (1) se nalaze i vođice (15) po kojima je klizno pomerljiv nosač (14) zadnjeg šiljka koji se koristi kao dodatni oslonac pri stezanju dužih obradaka u cilju povećanja krutosti.",
publisher = "Zavod za intelektualnu svojinu, Beograd, Knjeginje Ljubice 5",
journal = "Broj 1805 U1, Isprava o malom patentu od 01.4.2024.",
title = "Multifunkcionalna i rekonfigurabilna mašina alatka za brzu izradu prototipova glodanjem, laserskom obradom i dodavanjem materijala u polarno cilindričnim koordinatama",
pages = "9-1",
url = "https://hdl.handle.net/21.15107/rcub_machinery_7790"
}

Živanović, S., Vorkapić, N., Slavković, N., Dimić, Z.,& Vidaković, J.. (2024-04-01). Multifunkcionalna i rekonfigurabilna mašina alatka za brzu izradu prototipova glodanjem, laserskom obradom i dodavanjem materijala u polarno cilindričnim koordinatama. in Broj 1805 U1, Isprava o malom patentu od 01.4.2024.
Zavod za intelektualnu svojinu, Beograd, Knjeginje Ljubice 5., 1-9.
https://hdl.handle.net/21.15107/rcub_machinery_7790

Živanović S, Vorkapić N, Slavković N, Dimić Z, Vidaković J. Multifunkcionalna i rekonfigurabilna mašina alatka za brzu izradu prototipova glodanjem, laserskom obradom i dodavanjem materijala u polarno cilindričnim koordinatama. in Broj 1805 U1, Isprava o malom patentu od 01.4.2024.. 2024;:1-9.
https://hdl.handle.net/21.15107/rcub_machinery_7790 .

Živanović, Saša, Vorkapić, Nikola, Slavković, Nikola, Dimić, Zoran, Vidaković, Jelena, "Multifunkcionalna i rekonfigurabilna mašina alatka za brzu izradu prototipova glodanjem, laserskom obradom i dodavanjem materijala u polarno cilindričnim koordinatama" in Broj 1805 U1, Isprava o malom patentu od 01.4.2024. (2024-04-01):1-9,
https://hdl.handle.net/21.15107/rcub_machinery_7790 .

TY  - JOUR
AU  - Živanović, Saša
AU  - Slavković, Nikola
AU  - Vorkapić, Nikola
AU  - Dimić, Zoran
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7761
AB  - U radu je predstavljen pristup za primenu STEP-NC protokola u aditivnoj proizvodnji. Koristi se sta-ndard ISO 10303 AP238 koji omogućava implementaciju geometrijskih informacija o slojevima do-davanja materijala kao ulaznih podataka za generisanje STEP-NC programa. Prikazana je i me-todologija za primenu STEP-NC protokola u aditivnoj proizvodnji. Za potrebe verifikacije i simulacije generisanih programa za aditivnu proizvodnju koristi se okruženje STEP-NC Machine i sopstvene konfigurisane mašine za dodavanje materijala u okviru ovog softvera
AB  - The paper presents an approach for applying the STEP-NC protocol in additive manufacturing. The ISO 10303 AP238 standard is used, which enables the implementation of geometrical information about material addition layers as input data for the generation of STEP-NC programs. The methodology for applying the STEP-NC protocol in additive manufacturing is also given. For verification and simulation of the generated programs for additive manufacturing, the STEP-NC Machine environment and us own configured machines for additive manufacturing within this software are used
PB  - Savez inženjera i tehničara Srbije, Beograd
T2  - Tehnika
T1  - Aditivna proizvodnja i primena STEP-NC protokola
T1  - ADDITIVE TECHNOLOGIES AND APPLICATION OF THE STEP-NC PROTOCOL
EP  - 72
IS  - 1
SP  - 65
VL  - 74
DO  - 10.5937/tehnika2401065Z
ER  - 

@article{
author = "Živanović, Saša and Slavković, Nikola and Vorkapić, Nikola and Dimić, Zoran",
year = "2023",
abstract = "U radu je predstavljen pristup za primenu STEP-NC protokola u aditivnoj proizvodnji. Koristi se sta-ndard ISO 10303 AP238 koji omogućava implementaciju geometrijskih informacija o slojevima do-davanja materijala kao ulaznih podataka za generisanje STEP-NC programa. Prikazana je i me-todologija za primenu STEP-NC protokola u aditivnoj proizvodnji. Za potrebe verifikacije i simulacije generisanih programa za aditivnu proizvodnju koristi se okruženje STEP-NC Machine i sopstvene konfigurisane mašine za dodavanje materijala u okviru ovog softvera, The paper presents an approach for applying the STEP-NC protocol in additive manufacturing. The ISO 10303 AP238 standard is used, which enables the implementation of geometrical information about material addition layers as input data for the generation of STEP-NC programs. The methodology for applying the STEP-NC protocol in additive manufacturing is also given. For verification and simulation of the generated programs for additive manufacturing, the STEP-NC Machine environment and us own configured machines for additive manufacturing within this software are used",
publisher = "Savez inženjera i tehničara Srbije, Beograd",
journal = "Tehnika",
title = "Aditivna proizvodnja i primena STEP-NC protokola, ADDITIVE TECHNOLOGIES AND APPLICATION OF THE STEP-NC PROTOCOL",
pages = "72-65",
number = "1",
volume = "74",
doi = "10.5937/tehnika2401065Z"
}

Živanović, S., Slavković, N., Vorkapić, N.,& Dimić, Z.. (2023). Aditivna proizvodnja i primena STEP-NC protokola. in Tehnika
Savez inženjera i tehničara Srbije, Beograd., 74(1), 65-72.
https://doi.org/10.5937/tehnika2401065Z

Živanović S, Slavković N, Vorkapić N, Dimić Z. Aditivna proizvodnja i primena STEP-NC protokola. in Tehnika. 2023;74(1):65-72.
doi:10.5937/tehnika2401065Z .

Živanović, Saša, Slavković, Nikola, Vorkapić, Nikola, Dimić, Zoran, "Aditivna proizvodnja i primena STEP-NC protokola" in Tehnika, 74, no. 1 (2023):65-72,
https://doi.org/10.5937/tehnika2401065Z . .

TY  - CONF
AU  - Vorkapić, Nikola
AU  - Kokotović, Branko
AU  - Živanović, Saša
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7005
AB  - This paper presents the results of the research into the applicability of the features derived by statistical analysis of signals from the machining process in the recognition of occurrence and evolving of chatter vibration. Selected set of statistical features were discussed, 3 of them in the time domain, an one in the frequency domain. Effects of these signal features were discussed through analysis of the results of two experiments with machining. It was shown that standard deviation and the skewness of the force or acceleration signal have some desirable properties in recognition of the moment when chatter vibrations occur.
PB  - Novi Sad : Faculty of Technical Sciences
C3  - 39th International Conference on Production Engineering of Serbia ICPES 2023, 26-27. October 2023, Novi Sad
T1  - Comparison of signal features from time and frequency domain for chatter detection
EP  - 47
SP  - 42
UR  - https://hdl.handle.net/21.15107/rcub_machinery_7005
ER  - 

@conference{
author = "Vorkapić, Nikola and Kokotović, Branko and Živanović, Saša",
year = "2023",
abstract = "This paper presents the results of the research into the applicability of the features derived by statistical analysis of signals from the machining process in the recognition of occurrence and evolving of chatter vibration. Selected set of statistical features were discussed, 3 of them in the time domain, an one in the frequency domain. Effects of these signal features were discussed through analysis of the results of two experiments with machining. It was shown that standard deviation and the skewness of the force or acceleration signal have some desirable properties in recognition of the moment when chatter vibrations occur.",
publisher = "Novi Sad : Faculty of Technical Sciences",
journal = "39th International Conference on Production Engineering of Serbia ICPES 2023, 26-27. October 2023, Novi Sad",
title = "Comparison of signal features from time and frequency domain for chatter detection",
pages = "47-42",
url = "https://hdl.handle.net/21.15107/rcub_machinery_7005"
}

Vorkapić, N., Kokotović, B.,& Živanović, S.. (2023). Comparison of signal features from time and frequency domain for chatter detection. in 39th International Conference on Production Engineering of Serbia ICPES 2023, 26-27. October 2023, Novi Sad
Novi Sad : Faculty of Technical Sciences., 42-47.
https://hdl.handle.net/21.15107/rcub_machinery_7005

Vorkapić N, Kokotović B, Živanović S. Comparison of signal features from time and frequency domain for chatter detection. in 39th International Conference on Production Engineering of Serbia ICPES 2023, 26-27. October 2023, Novi Sad. 2023;:42-47.
https://hdl.handle.net/21.15107/rcub_machinery_7005 .

Vorkapić, Nikola, Kokotović, Branko, Živanović, Saša, "Comparison of signal features from time and frequency domain for chatter detection" in 39th International Conference on Production Engineering of Serbia ICPES 2023, 26-27. October 2023, Novi Sad (2023):42-47,
https://hdl.handle.net/21.15107/rcub_machinery_7005 .

Živanović, S., Vasilić, G., Dimić, Z., Kokotović, B., Vorkapić, N.,& Slavković, N.. (2023). Edukaciona troosna rekonfigurabilna mašina sa hibridnom kinematikom MOMA V3. in Tehničko rešenje (M85) je prihvaćeno od strane Matičnog naučnog odbora za mašinstvo i industrijski softver., na sednici održanoj 04.7.2023.
Univerzitet u Beogradu, Mašinski fakultet., 1-45.
https://hdl.handle.net/21.15107/rcub_machinery_7723

Živanović S, Vasilić G, Dimić Z, Kokotović B, Vorkapić N, Slavković N. Edukaciona troosna rekonfigurabilna mašina sa hibridnom kinematikom MOMA V3. in Tehničko rešenje (M85) je prihvaćeno od strane Matičnog naučnog odbora za mašinstvo i industrijski softver., na sednici održanoj 04.7.2023.. 2023;:1-45.
https://hdl.handle.net/21.15107/rcub_machinery_7723 .

Živanović, Saša, Vasilić, Goran, Dimić, Zoran, Kokotović, Branko, Vorkapić, Nikola, Slavković, Nikola, "Edukaciona troosna rekonfigurabilna mašina sa hibridnom kinematikom MOMA V3" in Tehničko rešenje (M85) je prihvaćeno od strane Matičnog naučnog odbora za mašinstvo i industrijski softver., na sednici održanoj 04.7.2023. (2023):1-45,
https://hdl.handle.net/21.15107/rcub_machinery_7723 .

TY  - CONF
AU  - Živanović, Saša
AU  - Vorkapić, Nikola
AU  - Slavković, Nikola
AU  - Dimić, Zoran
AU  - Vidaković, Jelena
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7135
AB  - Rapid prototyping technology has emerged as one of the most significant technologies that enable the reduction of the product development and production times. The novel low-cost desktop multifunctional machine tool, able to support additive and subtractive manufacturing of symmetrical and asymmetrical cylindrical parts, is presented. The core of the invention is the new concept of the machine tool with a horizontal rotating device chuck (3-axis rotary CNC) as a multifunctional rapid prototyping machine. The specific concept of the machine’s geometry enabled reconfigurability, i.e., the simple change of tools for the unique combination of three production technologies on one desktop machine: milling, laser engraving, and rotary 3D printing. Open-source control infrastructure enables end-user customization and machine upgradeability and achieves cost-effectiveness. Innovative design enables additional technological advantages in the desktop rapid prototyping machine tools domain, such as: 1) the possibility of the production of a single cylindrical part completely in one clamping by using a combination of additive and subtractive manufacturing (which achieves effective use of material, energy, and reduced time consumption, increased productivity, increased accuracy); 2) modularity and the open architecture control structure which allows for upgradeability and further development of the machine according to end-user needs (possibility to add supplementary axes per users’ demands; 3) digital twin technology. MultiProDesk is a valuable production tool for SMEs in various production technologies where it allows users to adopt mass customization concepts and to reach mass personalization production (as a step to Industry 4.0).
PB  - University of Belgrade - Faculty of Mechanical Engineering
C3  - International Conference of Experimental and Numerical Investigations and New Technologies, CNN TECH 2023 - The Book of Abstracts, Zlatibor, Serbia, 04-07 July.
T1  - Design of MULTIPRODESK: Multifunctional rapid prototyping desktop machine
SP  - 12
UR  - https://hdl.handle.net/21.15107/rcub_machinery_7135
ER  - 

@conference{
author = "Živanović, Saša and Vorkapić, Nikola and Slavković, Nikola and Dimić, Zoran and Vidaković, Jelena",
year = "2023",
abstract = "Rapid prototyping technology has emerged as one of the most significant technologies that enable the reduction of the product development and production times. The novel low-cost desktop multifunctional machine tool, able to support additive and subtractive manufacturing of symmetrical and asymmetrical cylindrical parts, is presented. The core of the invention is the new concept of the machine tool with a horizontal rotating device chuck (3-axis rotary CNC) as a multifunctional rapid prototyping machine. The specific concept of the machine’s geometry enabled reconfigurability, i.e., the simple change of tools for the unique combination of three production technologies on one desktop machine: milling, laser engraving, and rotary 3D printing. Open-source control infrastructure enables end-user customization and machine upgradeability and achieves cost-effectiveness. Innovative design enables additional technological advantages in the desktop rapid prototyping machine tools domain, such as: 1) the possibility of the production of a single cylindrical part completely in one clamping by using a combination of additive and subtractive manufacturing (which achieves effective use of material, energy, and reduced time consumption, increased productivity, increased accuracy); 2) modularity and the open architecture control structure which allows for upgradeability and further development of the machine according to end-user needs (possibility to add supplementary axes per users’ demands; 3) digital twin technology. MultiProDesk is a valuable production tool for SMEs in various production technologies where it allows users to adopt mass customization concepts and to reach mass personalization production (as a step to Industry 4.0).",
publisher = "University of Belgrade - Faculty of Mechanical Engineering",
journal = "International Conference of Experimental and Numerical Investigations and New Technologies, CNN TECH 2023 - The Book of Abstracts, Zlatibor, Serbia, 04-07 July.",
title = "Design of MULTIPRODESK: Multifunctional rapid prototyping desktop machine",
pages = "12",
url = "https://hdl.handle.net/21.15107/rcub_machinery_7135"
}

Živanović, S., Vorkapić, N., Slavković, N., Dimić, Z.,& Vidaković, J.. (2023). Design of MULTIPRODESK: Multifunctional rapid prototyping desktop machine. in International Conference of Experimental and Numerical Investigations and New Technologies, CNN TECH 2023 - The Book of Abstracts, Zlatibor, Serbia, 04-07 July.
University of Belgrade - Faculty of Mechanical Engineering., 12.
https://hdl.handle.net/21.15107/rcub_machinery_7135

Živanović S, Vorkapić N, Slavković N, Dimić Z, Vidaković J. Design of MULTIPRODESK: Multifunctional rapid prototyping desktop machine. in International Conference of Experimental and Numerical Investigations and New Technologies, CNN TECH 2023 - The Book of Abstracts, Zlatibor, Serbia, 04-07 July.. 2023;:12.
https://hdl.handle.net/21.15107/rcub_machinery_7135 .

Živanović, Saša, Vorkapić, Nikola, Slavković, Nikola, Dimić, Zoran, Vidaković, Jelena, "Design of MULTIPRODESK: Multifunctional rapid prototyping desktop machine" in International Conference of Experimental and Numerical Investigations and New Technologies, CNN TECH 2023 - The Book of Abstracts, Zlatibor, Serbia, 04-07 July. (2023):12,
https://hdl.handle.net/21.15107/rcub_machinery_7135 .

TY  - CONF
AU  - Živanović, Saša
AU  - Vasilić, Goran
AU  - Dimić, Zoran
AU  - Vorkapić, Nikola
AU  - Kokotović, Branko
AU  - Slavković, Nikola
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/6879
AB  - This paper presents programming methods and program verification for the 3‐axis reconfigurable
hybrid kinematics machine MOMA V3, which represents an educational desktop milling machine
with a horizontal position of the main spindle. The paper considers the different programming and
program verification methods, including parts machining
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, 136-143
T1  - Programming methods and program verification for 3‐axis reconfigurable hybrid kinematics machine
EP  - 143
SP  - 136
UR  - https://hdl.handle.net/21.15107/rcub_machinery_6879
ER  - 

@conference{
author = "Živanović, Saša and Vasilić, Goran and Dimić, Zoran and Vorkapić, Nikola and Kokotović, Branko and Slavković, Nikola",
year = "2023",
abstract = "This paper presents programming methods and program verification for the 3‐axis reconfigurable
hybrid kinematics machine MOMA V3, which represents an educational desktop milling machine
with a horizontal position of the main spindle. The paper considers the different programming and
program verification methods, including parts machining",
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, 136-143",
title = "Programming methods and program verification for 3‐axis reconfigurable hybrid kinematics machine",
pages = "143-136",
url = "https://hdl.handle.net/21.15107/rcub_machinery_6879"
}

Živanović, S., Vasilić, G., Dimić, Z., Vorkapić, N., Kokotović, B.,& Slavković, N.. (2023). Programming methods and program verification for 3‐axis reconfigurable hybrid kinematics machine. in Proceedings of the 16th International Conference on Accomplishments in Mechanical and Industrial Engineering DEMI 2023, 136-143
University of Banja Luka, Faculty of Mechanical Engineering., 136-143.
https://hdl.handle.net/21.15107/rcub_machinery_6879

Živanović S, Vasilić G, Dimić Z, Vorkapić N, Kokotović B, Slavković N. Programming methods and program verification for 3‐axis reconfigurable hybrid kinematics machine. in Proceedings of the 16th International Conference on Accomplishments in Mechanical and Industrial Engineering DEMI 2023, 136-143. 2023;:136-143.
https://hdl.handle.net/21.15107/rcub_machinery_6879 .

Živanović, Saša, Vasilić, Goran, Dimić, Zoran, Vorkapić, Nikola, Kokotović, Branko, Slavković, Nikola, "Programming methods and program verification for 3‐axis reconfigurable hybrid kinematics machine" in Proceedings of the 16th International Conference on Accomplishments in Mechanical and Industrial Engineering DEMI 2023, 136-143 (2023):136-143,
https://hdl.handle.net/21.15107/rcub_machinery_6879 .

TY  - JOUR
AU  - Slavković, Nikola
AU  - Živanović, Saša
AU  - Vorkapić, Nikola
AU  - Dimić, Zoran
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4621
AB  - This paper presents an approach for developing the programming and offline
simulation systems for low-cost industrial robots in the
MatLab/Simulink environment. The approach is presented in the example
of a virtual model of a 4-axis robot with hybrid kinematics intended for
manipulation tasks. The industrial robot with hybrid kinematics consists of
the well-known 5R planar parallel mechanism to which two serial axes
have been added. The programming system developed in a MatLab
environment involves generating G-code programs based on given pick
and place points. The virtual model included in the simulation system is
configured in the Simulink environment based on the CAD model of the
robot and its kinematic structure. The kinematic model and the inverse
kinematic problem have to be included in the virtual model to realize the
motion of the virtual robot. The system of programming and simulation has
been verified through several examples that include object manipulation to
perform various tasks.
PB  - Belgrade : Faculty of Mechanical Engineering
T2  - FME Transactions
T1  - Development of the Programming and Simulation System of 4-axis Robot with Hybrid Kinematic
EP  - 411
IS  - 3
SP  - 403
VL  - 50
DO  - 10.5937/fme2203403S
ER  - 

@article{
author = "Slavković, Nikola and Živanović, Saša and Vorkapić, Nikola and Dimić, Zoran",
year = "2022",
abstract = "This paper presents an approach for developing the programming and offline
simulation systems for low-cost industrial robots in the
MatLab/Simulink environment. The approach is presented in the example
of a virtual model of a 4-axis robot with hybrid kinematics intended for
manipulation tasks. The industrial robot with hybrid kinematics consists of
the well-known 5R planar parallel mechanism to which two serial axes
have been added. The programming system developed in a MatLab
environment involves generating G-code programs based on given pick
and place points. The virtual model included in the simulation system is
configured in the Simulink environment based on the CAD model of the
robot and its kinematic structure. The kinematic model and the inverse
kinematic problem have to be included in the virtual model to realize the
motion of the virtual robot. The system of programming and simulation has
been verified through several examples that include object manipulation to
perform various tasks.",
publisher = "Belgrade : Faculty of Mechanical Engineering",
journal = "FME Transactions",
title = "Development of the Programming and Simulation System of 4-axis Robot with Hybrid Kinematic",
pages = "411-403",
number = "3",
volume = "50",
doi = "10.5937/fme2203403S"
}

Slavković, N., Živanović, S., Vorkapić, N.,& Dimić, Z.. (2022). Development of the Programming and Simulation System of 4-axis Robot with Hybrid Kinematic. in FME Transactions
Belgrade : Faculty of Mechanical Engineering., 50(3), 403-411.
https://doi.org/10.5937/fme2203403S

Slavković N, Živanović S, Vorkapić N, Dimić Z. Development of the Programming and Simulation System of 4-axis Robot with Hybrid Kinematic. in FME Transactions. 2022;50(3):403-411.
doi:10.5937/fme2203403S .

Slavković, Nikola, Živanović, Saša, Vorkapić, Nikola, Dimić, Zoran, "Development of the Programming and Simulation System of 4-axis Robot with Hybrid Kinematic" in FME Transactions, 50, no. 3 (2022):403-411,
https://doi.org/10.5937/fme2203403S . .

TY  - JOUR
AU  - Živanović, Saša
AU  - Vorkapić, Nikola
AU  - Mitrović, Stefan
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7136
AB  - The application of new additive technologies is based on models STL models of prototypes that will be build. This paper discusses two additive technologies: Fused Deposition Modeling – FDM and Laser Metal Directed Energy Deposition – Laser DED in terms of program preparation and its verification by simulation of material addition, i.e. machine simulation for these procedures. The paper presents the programming and program verification using machine simulation of additive manufacturing tool path in CAD/CAM and Vericut environment. A procedure for configuring and preparing of a virtual machine for several additive process simulations has been proposed. Simulation is a key technology for program verification. Machine simulation and digital twin are the primary simulation–based approaches in the context of the Industry 4.0. The paper analyzes the available programming software for generating G code from the STL file as well as the possibility of simulating the virtual machine when working according to the generated program.
PB  - University POLITEHNICA Timisoara, Faculty of Engineering Hunedoara
T2  - ACTA TECHNICA CORVINIENSIS – Bulletin of Engineering, October – December,  2022
T1  - Machine simulation of additive manufacturing tool path
IS  - 4
VL  - XV
UR  - https://hdl.handle.net/21.15107/rcub_machinery_7136
ER  - 

@article{
author = "Živanović, Saša and Vorkapić, Nikola and Mitrović, Stefan",
year = "2022",
abstract = "The application of new additive technologies is based on models STL models of prototypes that will be build. This paper discusses two additive technologies: Fused Deposition Modeling – FDM and Laser Metal Directed Energy Deposition – Laser DED in terms of program preparation and its verification by simulation of material addition, i.e. machine simulation for these procedures. The paper presents the programming and program verification using machine simulation of additive manufacturing tool path in CAD/CAM and Vericut environment. A procedure for configuring and preparing of a virtual machine for several additive process simulations has been proposed. Simulation is a key technology for program verification. Machine simulation and digital twin are the primary simulation–based approaches in the context of the Industry 4.0. The paper analyzes the available programming software for generating G code from the STL file as well as the possibility of simulating the virtual machine when working according to the generated program.",
publisher = "University POLITEHNICA Timisoara, Faculty of Engineering Hunedoara",
journal = "ACTA TECHNICA CORVINIENSIS – Bulletin of Engineering, October – December,  2022",
title = "Machine simulation of additive manufacturing tool path",
number = "4",
volume = "XV",
url = "https://hdl.handle.net/21.15107/rcub_machinery_7136"
}

Živanović, S., Vorkapić, N.,& Mitrović, S.. (2022). Machine simulation of additive manufacturing tool path. in ACTA TECHNICA CORVINIENSIS – Bulletin of Engineering, October – December,  2022
University POLITEHNICA Timisoara, Faculty of Engineering Hunedoara., XV(4).
https://hdl.handle.net/21.15107/rcub_machinery_7136

Živanović S, Vorkapić N, Mitrović S. Machine simulation of additive manufacturing tool path. in ACTA TECHNICA CORVINIENSIS – Bulletin of Engineering, October – December,  2022. 2022;XV(4).
https://hdl.handle.net/21.15107/rcub_machinery_7136 .

Živanović, Saša, Vorkapić, Nikola, Mitrović, Stefan, "Machine simulation of additive manufacturing tool path" in ACTA TECHNICA CORVINIENSIS – Bulletin of Engineering, October – December,  2022, XV, no. 4 (2022),
https://hdl.handle.net/21.15107/rcub_machinery_7136 .

TY  - CONF
AU  - Živanović, Saša
AU  - Tanović, Ljubodrag
AU  - Puzović, Radovan
AU  - Kokotović, Branko
AU  - Slavković, Nikola
AU  - Popović, Mihajlo
AU  - Mladenović, Goran
AU  - Stojadinović, Slavenko
AU  - Pjević, Miloš
AU  - Vorkapić, Nikola
AU  - Dimić, Zoran
AU  - Rakić, Aleksandar
AU  - Manasijević, Srećko
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4629
AB  - U radu je pokazana revitalizacija horizontalne bušilice glodalice LOLA HBG 80 koja je uključila
hardversko softversku nadogradnju postojeće mašine. Kao sistem upravljanja izabarano je upravljanje
otvorene arhitektrue na LinuxCNC računarskoj platformi. Uspostavljen je sistem za programiranje i
verifikaciju programa. Konfigurisane su ekvivalentne virtuelne mašine u sistemu za programiranje i
upravljanje. Revitalizovana mašina je uspešno testirana i verifikovan je njen rad.
PB  - Univerzitet u Beogradu Mašinski Fakultet
C3  - 43 JUPITER konferencija : zbornik radova, Beograd, oktobar 2022
T1  - Revitalizacija horizontalne bušilice glodalice LOLA HBG 80 upravljanjem otvorene arhitekture na LinuxCNC platformi
EP  - 3.12
SP  - 3.1
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4629
ER  - 

@conference{
author = "Živanović, Saša and Tanović, Ljubodrag and Puzović, Radovan and Kokotović, Branko and Slavković, Nikola and Popović, Mihajlo and Mladenović, Goran and Stojadinović, Slavenko and Pjević, Miloš and Vorkapić, Nikola and Dimić, Zoran and Rakić, Aleksandar and Manasijević, Srećko",
year = "2022",
abstract = "U radu je pokazana revitalizacija horizontalne bušilice glodalice LOLA HBG 80 koja je uključila
hardversko softversku nadogradnju postojeće mašine. Kao sistem upravljanja izabarano je upravljanje
otvorene arhitektrue na LinuxCNC računarskoj platformi. Uspostavljen je sistem za programiranje i
verifikaciju programa. Konfigurisane su ekvivalentne virtuelne mašine u sistemu za programiranje i
upravljanje. Revitalizovana mašina je uspešno testirana i verifikovan je njen rad.",
publisher = "Univerzitet u Beogradu Mašinski Fakultet",
journal = "43 JUPITER konferencija : zbornik radova, Beograd, oktobar 2022",
title = "Revitalizacija horizontalne bušilice glodalice LOLA HBG 80 upravljanjem otvorene arhitekture na LinuxCNC platformi",
pages = "3.12-3.1",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4629"
}

Živanović, S., Tanović, L., Puzović, R., Kokotović, B., Slavković, N., Popović, M., Mladenović, G., Stojadinović, S., Pjević, M., Vorkapić, N., Dimić, Z., Rakić, A.,& Manasijević, S.. (2022). Revitalizacija horizontalne bušilice glodalice LOLA HBG 80 upravljanjem otvorene arhitekture na LinuxCNC platformi. in 43 JUPITER konferencija : zbornik radova, Beograd, oktobar 2022
Univerzitet u Beogradu Mašinski Fakultet., 3.1-3.12.
https://hdl.handle.net/21.15107/rcub_machinery_4629

Živanović S, Tanović L, Puzović R, Kokotović B, Slavković N, Popović M, Mladenović G, Stojadinović S, Pjević M, Vorkapić N, Dimić Z, Rakić A, Manasijević S. Revitalizacija horizontalne bušilice glodalice LOLA HBG 80 upravljanjem otvorene arhitekture na LinuxCNC platformi. in 43 JUPITER konferencija : zbornik radova, Beograd, oktobar 2022. 2022;:3.1-3.12.
https://hdl.handle.net/21.15107/rcub_machinery_4629 .

Živanović, Saša, Tanović, Ljubodrag, Puzović, Radovan, Kokotović, Branko, Slavković, Nikola, Popović, Mihajlo, Mladenović, Goran, Stojadinović, Slavenko, Pjević, Miloš, Vorkapić, Nikola, Dimić, Zoran, Rakić, Aleksandar, Manasijević, Srećko, "Revitalizacija horizontalne bušilice glodalice LOLA HBG 80 upravljanjem otvorene arhitekture na LinuxCNC platformi" in 43 JUPITER konferencija : zbornik radova, Beograd, oktobar 2022 (2022):3.1-3.12,
https://hdl.handle.net/21.15107/rcub_machinery_4629 .

TY  - CONF
AU  - Živanović, Saša
AU  - Vorkapić, Nikola
AU  - Mitrović, Stefan
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4608
AB  - The paper presents the programming and program verification using machine simulation of additive manufacturing tool path in CAD/CAM and Vericut environment. A procedure for configuring and preparing of a virtual machine for several additive process simulations has been proposed. The paper analyzes the available programming software for generating G code from the STL file as well as the possibility of simulating the virtual machine when working according to the generated program.
PB  - UNIVERSITY OF BELGRADE Faculty of Mechanical Engineering
C3  - Machine design in the context of Industry 4.0 – Intelligent products
T1  - Machine simulation of additive manufacturing tool path
EP  - 217
SP  - 211
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4608
ER  - 

@conference{
author = "Živanović, Saša and Vorkapić, Nikola and Mitrović, Stefan",
year = "2022",
abstract = "The paper presents the programming and program verification using machine simulation of additive manufacturing tool path in CAD/CAM and Vericut environment. A procedure for configuring and preparing of a virtual machine for several additive process simulations has been proposed. The paper analyzes the available programming software for generating G code from the STL file as well as the possibility of simulating the virtual machine when working according to the generated program.",
publisher = "UNIVERSITY OF BELGRADE Faculty of Mechanical Engineering",
journal = "Machine design in the context of Industry 4.0 – Intelligent products",
title = "Machine simulation of additive manufacturing tool path",
pages = "217-211",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4608"
}

Živanović, S., Vorkapić, N.,& Mitrović, S.. (2022). Machine simulation of additive manufacturing tool path. in Machine design in the context of Industry 4.0 – Intelligent products
UNIVERSITY OF BELGRADE Faculty of Mechanical Engineering., 211-217.
https://hdl.handle.net/21.15107/rcub_machinery_4608

Živanović S, Vorkapić N, Mitrović S. Machine simulation of additive manufacturing tool path. in Machine design in the context of Industry 4.0 – Intelligent products. 2022;:211-217.
https://hdl.handle.net/21.15107/rcub_machinery_4608 .

Živanović, Saša, Vorkapić, Nikola, Mitrović, Stefan, "Machine simulation of additive manufacturing tool path" in Machine design in the context of Industry 4.0 – Intelligent products (2022):211-217,
https://hdl.handle.net/21.15107/rcub_machinery_4608 .

TY  - JOUR
AU  - Živanović, Saša
AU  - Vorkapić, Nikola
AU  - Mitrović, Stefan
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4606
AB  - The application of new additive technologies is based on models STL models of prototypes that will be build. This paper discusses two additive technologies: Fused
Deposition Modeling – FDM and Laser Metal Directed Energy Deposition – Laser DED in terms of program preparation and its verification by simulation of material addition,
i.e. machine simulation for these procedures. The paper presents the programming and program verification using machine simulation of additive manufacturing
tool path in CAD/CAM and Vericut environment. A procedure for configuring and preparing of a virtual machine for several additive process simulations has
been proposed. Simulation is a key technology for program verification. Machine simulation and digital twin are the primary simulation–based approaches in the context of
the Industry 4.0. The paper analyzes the available programming software for generating G code from the STL file as well as the possibility of simulating the virtual
machine when working according to the generated program.
T2  - ACTA TECHNICA CORVINIENSIS– Bulletin of Engineering Tome XV
T1  - Machine simulation of additive manufacturing tool path
EP  - 44
IS  - 4
SP  - 39
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4606
ER  - 

@article{
author = "Živanović, Saša and Vorkapić, Nikola and Mitrović, Stefan",
year = "2022",
abstract = "The application of new additive technologies is based on models STL models of prototypes that will be build. This paper discusses two additive technologies: Fused
Deposition Modeling – FDM and Laser Metal Directed Energy Deposition – Laser DED in terms of program preparation and its verification by simulation of material addition,
i.e. machine simulation for these procedures. The paper presents the programming and program verification using machine simulation of additive manufacturing
tool path in CAD/CAM and Vericut environment. A procedure for configuring and preparing of a virtual machine for several additive process simulations has
been proposed. Simulation is a key technology for program verification. Machine simulation and digital twin are the primary simulation–based approaches in the context of
the Industry 4.0. The paper analyzes the available programming software for generating G code from the STL file as well as the possibility of simulating the virtual
machine when working according to the generated program.",
journal = "ACTA TECHNICA CORVINIENSIS– Bulletin of Engineering Tome XV",
title = "Machine simulation of additive manufacturing tool path",
pages = "44-39",
number = "4",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4606"
}

Živanović, S., Vorkapić, N.,& Mitrović, S.. (2022). Machine simulation of additive manufacturing tool path. in ACTA TECHNICA CORVINIENSIS– Bulletin of Engineering Tome XV(4), 39-44.
https://hdl.handle.net/21.15107/rcub_machinery_4606

Živanović S, Vorkapić N, Mitrović S. Machine simulation of additive manufacturing tool path. in ACTA TECHNICA CORVINIENSIS– Bulletin of Engineering Tome XV. 2022;(4):39-44.
https://hdl.handle.net/21.15107/rcub_machinery_4606 .

Živanović, Saša, Vorkapić, Nikola, Mitrović, Stefan, "Machine simulation of additive manufacturing tool path" in ACTA TECHNICA CORVINIENSIS– Bulletin of Engineering Tome XV, no. 4 (2022):39-44,
https://hdl.handle.net/21.15107/rcub_machinery_4606 .

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

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

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

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

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

TY  - CONF
AU  - Živanović, Saša
AU  - Vorkapić, Nikola
AU  - Slavković, Nikola
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4628
AB  - U radu se predstavlja metodologija za konfigurisanje virtuelnih mašina za aditivne tehnologije za rad u
okruženju koje je bazirano na STEP-NC protokolu i standardu ISO 10303 AP238. U cilju verifikacije rada
konfigurisanih virtuelnih mašina za aditivne tehnologije pripremljen je i primer programa za simulaciju rada
mašina u STEP-NC Machine okruženju. Konfigurisane mašine za aditivne tehnologije ili brzu izradu
prototipova dodvanjem materijala su integrisane u licencirani softver STEP-NC Machine.
PB  - Univerzitet u Beogradu Mašinski Fakultet
C3  - 43 JUPITER konferencija : zbornik radova, Beograd, oktobar 2022
T1  - Konfigurisanje virtuelnih mašina alatki u STEP-NC okruženju na primeru aditivnih tehnologija
EP  - 2.26
SP  - 2.20
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4628
ER  - 

@conference{
author = "Živanović, Saša and Vorkapić, Nikola and Slavković, Nikola",
year = "2022",
abstract = "U radu se predstavlja metodologija za konfigurisanje virtuelnih mašina za aditivne tehnologije za rad u
okruženju koje je bazirano na STEP-NC protokolu i standardu ISO 10303 AP238. U cilju verifikacije rada
konfigurisanih virtuelnih mašina za aditivne tehnologije pripremljen je i primer programa za simulaciju rada
mašina u STEP-NC Machine okruženju. Konfigurisane mašine za aditivne tehnologije ili brzu izradu
prototipova dodvanjem materijala su integrisane u licencirani softver STEP-NC Machine.",
publisher = "Univerzitet u Beogradu Mašinski Fakultet",
journal = "43 JUPITER konferencija : zbornik radova, Beograd, oktobar 2022",
title = "Konfigurisanje virtuelnih mašina alatki u STEP-NC okruženju na primeru aditivnih tehnologija",
pages = "2.26-2.20",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4628"
}

Živanović, S., Vorkapić, N.,& Slavković, N.. (2022). Konfigurisanje virtuelnih mašina alatki u STEP-NC okruženju na primeru aditivnih tehnologija. in 43 JUPITER konferencija : zbornik radova, Beograd, oktobar 2022
Univerzitet u Beogradu Mašinski Fakultet., 2.20-2.26.
https://hdl.handle.net/21.15107/rcub_machinery_4628

Živanović S, Vorkapić N, Slavković N. Konfigurisanje virtuelnih mašina alatki u STEP-NC okruženju na primeru aditivnih tehnologija. in 43 JUPITER konferencija : zbornik radova, Beograd, oktobar 2022. 2022;:2.20-2.26.
https://hdl.handle.net/21.15107/rcub_machinery_4628 .

Živanović, Saša, Vorkapić, Nikola, Slavković, Nikola, "Konfigurisanje virtuelnih mašina alatki u STEP-NC okruženju na primeru aditivnih tehnologija" in 43 JUPITER konferencija : zbornik radova, Beograd, oktobar 2022 (2022):2.20-2.26,
https://hdl.handle.net/21.15107/rcub_machinery_4628 .

TY  - CONF
AU  - Slavković, Nikola
AU  - Živanović, Saša
AU  - Dimić, Zoran
AU  - Vorkapić, Nikola
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4622
AB  - The development of integrated computing
environments provides opportunities for the development of
virtual production. Virtual simulation is crucial when the robot
performs tasks that include some manufacturing processes.
Virtual robots are used for program verification before sending
it to the real robot and enable collision checking between robot
segments themselves and the robot and its environment. Virtual
models of industrial robots could be configured in different
environments and ways. This paper presents the method for
configuring virtual robots as an integral part of the control
system. The virtual robot's configuration is realized under the
LinuxCNC software environment and relies on OpenGL and
several interface classes written in Python programming
language. Developing a robot kinematic model to implement a
virtual robot integrated with an open-architecture control system
is necessary. Models of robot segments were imported in ASCII
STL format and connected according to the robot kinematic
model, and then the virtual robot was integrated within the
LinuxCNC control system. The method for configuring a virtual
robot as well as its kinematic model is presented in the example
of the BiSCARA robot. Verifying the robot control system,
virtual model, and kinematic model has been performed through
several examples of drawing contours on the configured virtual
robot.
PB  - Novi Pazar : State University
C3  - 9TH International Conference on Electrical, Electronic and Computing Engineering IcETRAN 2022, 6-9 June 2022, Novi Pazar, Serbia
T1  - Method for Configuring Virtual Robot as an Integral Part of the Control System
EP  - 644
SP  - 639
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4622
ER  - 

@conference{
author = "Slavković, Nikola and Živanović, Saša and Dimić, Zoran and Vorkapić, Nikola",
year = "2022",
abstract = "The development of integrated computing
environments provides opportunities for the development of
virtual production. Virtual simulation is crucial when the robot
performs tasks that include some manufacturing processes.
Virtual robots are used for program verification before sending
it to the real robot and enable collision checking between robot
segments themselves and the robot and its environment. Virtual
models of industrial robots could be configured in different
environments and ways. This paper presents the method for
configuring virtual robots as an integral part of the control
system. The virtual robot's configuration is realized under the
LinuxCNC software environment and relies on OpenGL and
several interface classes written in Python programming
language. Developing a robot kinematic model to implement a
virtual robot integrated with an open-architecture control system
is necessary. Models of robot segments were imported in ASCII
STL format and connected according to the robot kinematic
model, and then the virtual robot was integrated within the
LinuxCNC control system. The method for configuring a virtual
robot as well as its kinematic model is presented in the example
of the BiSCARA robot. Verifying the robot control system,
virtual model, and kinematic model has been performed through
several examples of drawing contours on the configured virtual
robot.",
publisher = "Novi Pazar : State University",
journal = "9TH International Conference on Electrical, Electronic and Computing Engineering IcETRAN 2022, 6-9 June 2022, Novi Pazar, Serbia",
title = "Method for Configuring Virtual Robot as an Integral Part of the Control System",
pages = "644-639",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4622"
}

Slavković, N., Živanović, S., Dimić, Z.,& Vorkapić, N.. (2022). Method for Configuring Virtual Robot as an Integral Part of the Control System. in 9TH International Conference on Electrical, Electronic and Computing Engineering IcETRAN 2022, 6-9 June 2022, Novi Pazar, Serbia
Novi Pazar : State University., 639-644.
https://hdl.handle.net/21.15107/rcub_machinery_4622

Slavković N, Živanović S, Dimić Z, Vorkapić N. Method for Configuring Virtual Robot as an Integral Part of the Control System. in 9TH International Conference on Electrical, Electronic and Computing Engineering IcETRAN 2022, 6-9 June 2022, Novi Pazar, Serbia. 2022;:639-644.
https://hdl.handle.net/21.15107/rcub_machinery_4622 .

Slavković, Nikola, Živanović, Saša, Dimić, Zoran, Vorkapić, Nikola, "Method for Configuring Virtual Robot as an Integral Part of the Control System" in 9TH International Conference on Electrical, Electronic and Computing Engineering IcETRAN 2022, 6-9 June 2022, Novi Pazar, Serbia (2022):639-644,
https://hdl.handle.net/21.15107/rcub_machinery_4622 .

TY  - CONF
AU  - Živanović, Saša
AU  - Vasilić, Goran
AU  - Kokotović, Branko
AU  - Vorkapić, Nikola
AU  - Dimić, Zoran
AU  - Slavković, Nikola
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4607
AB  - U ovom radu je predstavljeno konfigurisanje troosne rekonfigurabilne mašine
sa hibridnom kinematikom MOMA V3 koja predstavlja jednu edukacionu stonu
glodalicu sa horizontalnim položajem glavnog vretena. U radu se predstavlja prototip
mašine, njeno konfigurisanje, sistem za programiranje i upravljanje i verifikacija rada.
C3  - Proceedings of the 6th international scientific conference” Conference on Mechanical Engineering Technologies and Applications” COMETa2022,November 17-19, 2022 Jahorina
T1  - Configuring and Verification of a Reconfigurable Machine with Hybrid Kinematics MOMA V3
EP  - 55
SP  - 46
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4607
ER  - 

@conference{
author = "Živanović, Saša and Vasilić, Goran and Kokotović, Branko and Vorkapić, Nikola and Dimić, Zoran and Slavković, Nikola",
year = "2022",
abstract = "U ovom radu je predstavljeno konfigurisanje troosne rekonfigurabilne mašine
sa hibridnom kinematikom MOMA V3 koja predstavlja jednu edukacionu stonu
glodalicu sa horizontalnim položajem glavnog vretena. U radu se predstavlja prototip
mašine, njeno konfigurisanje, sistem za programiranje i upravljanje i verifikacija rada.",
journal = "Proceedings of the 6th international scientific conference” Conference on Mechanical Engineering Technologies and Applications” COMETa2022,November 17-19, 2022 Jahorina",
title = "Configuring and Verification of a Reconfigurable Machine with Hybrid Kinematics MOMA V3",
pages = "55-46",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4607"
}

Živanović, S., Vasilić, G., Kokotović, B., Vorkapić, N., Dimić, Z.,& Slavković, N.. (2022). Configuring and Verification of a Reconfigurable Machine with Hybrid Kinematics MOMA V3. in Proceedings of the 6th international scientific conference” Conference on Mechanical Engineering Technologies and Applications” COMETa2022,November 17-19, 2022 Jahorina, 46-55.
https://hdl.handle.net/21.15107/rcub_machinery_4607

Živanović S, Vasilić G, Kokotović B, Vorkapić N, Dimić Z, Slavković N. Configuring and Verification of a Reconfigurable Machine with Hybrid Kinematics MOMA V3. in Proceedings of the 6th international scientific conference” Conference on Mechanical Engineering Technologies and Applications” COMETa2022,November 17-19, 2022 Jahorina. 2022;:46-55.
https://hdl.handle.net/21.15107/rcub_machinery_4607 .

Živanović, Saša, Vasilić, Goran, Kokotović, Branko, Vorkapić, Nikola, Dimić, Zoran, Slavković, Nikola, "Configuring and Verification of a Reconfigurable Machine with Hybrid Kinematics MOMA V3" in Proceedings of the 6th international scientific conference” Conference on Mechanical Engineering Technologies and Applications” COMETa2022,November 17-19, 2022 Jahorina (2022):46-55,
https://hdl.handle.net/21.15107/rcub_machinery_4607 .

TY  - JOUR
AU  - Slavković, Nikola
AU  - Živanović, Saša
AU  - Vorkapić, Nikola
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3469
AB  - U radu je prikazano konfigurisanje virtuelnog prototipa BiSCARA robota generisanog na osnovu kompletno razvijenog kinematičkog modela robota. Ovako razvijeni virtuelni CAD model će omogućiti njegovu implementaciju u Python grafičko okruženje kao integralnog dela sistema upravljanja otvorene arhitekture razvijenog na osnovu prikazanog kinematičkog modela. Razvijeni kinematički model je obuhvatio rešavanje inverznog i direktnog kinematičkog problema, određivanje Jakobijan matrice i analizu radnog prostora. Verifikacija kinematičkog modela, odnosno konfigurisanog virtuelnog prototipa robota, je izvršena simulacijama kretanja vrha end-efektora prema zadatom programu u CAD/CAM okruženju.
AB  - The paper presents the configuring of a virtual prototype BiSCARA robot generated on the basis of a fully developed kinematic model of the robot. The virtual CAD model developed in this way will enable its implementation in the Python graphical environment as an integral part of the open architecture control system developed on the basis of the presented kinematic model. The developed kinematic model included solving the inverse and direct kinematic problem, determining the Jacobian matrix and workspace analysis. Verification of the kinematic model, i.e. the configured virtual prototype of the robot, was performed by simulations of the end-effector tip movement according to the given program in a CAD / CAM environment.
PB  - Savez inženjera i tehničara Srbije, Beograd
T2  - Tehnika
T1  - Konfigurisanje virtuelnog prototipa BiSCARA robota
T1  - Configuring a virtual prototype of a BiSCARA robot
EP  - 317
IS  - 3
SP  - 311
VL  - 76
DO  - 10.5937/tehnika2103311S
ER  - 

@article{
author = "Slavković, Nikola and Živanović, Saša and Vorkapić, Nikola",
year = "2021",
abstract = "U radu je prikazano konfigurisanje virtuelnog prototipa BiSCARA robota generisanog na osnovu kompletno razvijenog kinematičkog modela robota. Ovako razvijeni virtuelni CAD model će omogućiti njegovu implementaciju u Python grafičko okruženje kao integralnog dela sistema upravljanja otvorene arhitekture razvijenog na osnovu prikazanog kinematičkog modela. Razvijeni kinematički model je obuhvatio rešavanje inverznog i direktnog kinematičkog problema, određivanje Jakobijan matrice i analizu radnog prostora. Verifikacija kinematičkog modela, odnosno konfigurisanog virtuelnog prototipa robota, je izvršena simulacijama kretanja vrha end-efektora prema zadatom programu u CAD/CAM okruženju., The paper presents the configuring of a virtual prototype BiSCARA robot generated on the basis of a fully developed kinematic model of the robot. The virtual CAD model developed in this way will enable its implementation in the Python graphical environment as an integral part of the open architecture control system developed on the basis of the presented kinematic model. The developed kinematic model included solving the inverse and direct kinematic problem, determining the Jacobian matrix and workspace analysis. Verification of the kinematic model, i.e. the configured virtual prototype of the robot, was performed by simulations of the end-effector tip movement according to the given program in a CAD / CAM environment.",
publisher = "Savez inženjera i tehničara Srbije, Beograd",
journal = "Tehnika",
title = "Konfigurisanje virtuelnog prototipa BiSCARA robota, Configuring a virtual prototype of a BiSCARA robot",
pages = "317-311",
number = "3",
volume = "76",
doi = "10.5937/tehnika2103311S"
}

Slavković, N., Živanović, S.,& Vorkapić, N.. (2021). Konfigurisanje virtuelnog prototipa BiSCARA robota. in Tehnika
Savez inženjera i tehničara Srbije, Beograd., 76(3), 311-317.
https://doi.org/10.5937/tehnika2103311S

Slavković N, Živanović S, Vorkapić N. Konfigurisanje virtuelnog prototipa BiSCARA robota. in Tehnika. 2021;76(3):311-317.
doi:10.5937/tehnika2103311S .

Slavković, Nikola, Živanović, Saša, Vorkapić, Nikola, "Konfigurisanje virtuelnog prototipa BiSCARA robota" in Tehnika, 76, no. 3 (2021):311-317,
https://doi.org/10.5937/tehnika2103311S . .

TY  - CONF
AU  - Živanović, Saša
AU  - Slavković, Nikola
AU  - Tabaković, Slobodan
AU  - Vorkapić, Nikola
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4620
AB  - This paper presents a method for the application of STEP-NC protocol for milling on machine tools
that have Fanuc, Siemens, or LinuxCNC control systems. The programming method used ISO 10303-238 (AP-
238) standard for programming CNC machine tools. Application and validation of an indirect programming
method according to STEP-NC protocol are performed using available CNC machine tools with different
control systems.
PB  - Faculty of technical sciences Čačak University of Kragujevac
C3  - ICPE-S 2021 38th International Conference on Production Engineering, Čačak, Serbia, 14 – 15. October 2021
T1  - Application of STEP-NC protocol for milling on machine tools that use Fanuc-Siemens-LinuxCNC control system
EP  - 107
SP  - 102
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4620
ER  - 

@conference{
author = "Živanović, Saša and Slavković, Nikola and Tabaković, Slobodan and Vorkapić, Nikola",
year = "2021",
abstract = "This paper presents a method for the application of STEP-NC protocol for milling on machine tools
that have Fanuc, Siemens, or LinuxCNC control systems. The programming method used ISO 10303-238 (AP-
238) standard for programming CNC machine tools. Application and validation of an indirect programming
method according to STEP-NC protocol are performed using available CNC machine tools with different
control systems.",
publisher = "Faculty of technical sciences Čačak University of Kragujevac",
journal = "ICPE-S 2021 38th International Conference on Production Engineering, Čačak, Serbia, 14 – 15. October 2021",
title = "Application of STEP-NC protocol for milling on machine tools that use Fanuc-Siemens-LinuxCNC control system",
pages = "107-102",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4620"
}

Živanović, S., Slavković, N., Tabaković, S.,& Vorkapić, N.. (2021). Application of STEP-NC protocol for milling on machine tools that use Fanuc-Siemens-LinuxCNC control system. in ICPE-S 2021 38th International Conference on Production Engineering, Čačak, Serbia, 14 – 15. October 2021
Faculty of technical sciences Čačak University of Kragujevac., 102-107.
https://hdl.handle.net/21.15107/rcub_machinery_4620

Živanović S, Slavković N, Tabaković S, Vorkapić N. Application of STEP-NC protocol for milling on machine tools that use Fanuc-Siemens-LinuxCNC control system. in ICPE-S 2021 38th International Conference on Production Engineering, Čačak, Serbia, 14 – 15. October 2021. 2021;:102-107.
https://hdl.handle.net/21.15107/rcub_machinery_4620 .

Živanović, Saša, Slavković, Nikola, Tabaković, Slobodan, Vorkapić, Nikola, "Application of STEP-NC protocol for milling on machine tools that use Fanuc-Siemens-LinuxCNC control system" in ICPE-S 2021 38th International Conference on Production Engineering, Čačak, Serbia, 14 – 15. October 2021 (2021):102-107,
https://hdl.handle.net/21.15107/rcub_machinery_4620 .

TY  - JOUR
AU  - Slavković, Nikola
AU  - Vorkapić, Nikola
AU  - Živanović, Saša
AU  - Dimić, Zoran
AU  - Kokotović, Branko
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4617
AB  - The paper presents the developed control system with open architecture for the BiSCARA robot, based on
the robot kinematic model. The control system is realized in the LinuxCNC software environment and includes the
virtual robot model configured using several predefined Python classes and OpenGL. Presented methodology for
configuring virtual robots could be used for any other robot or machine tool with parallel kinematic. The
verification of the robot control system and robot kinematic model has been performed through several examples of
drawing of contour on the configured virtual robot.
PB  - Novi Sad : Faculty of Technical Sciences Department of Production Engineering
T2  - Proceedings of 14th International Scientific Conference MMA2021 Flexible Technologies, Novi Sad, Serbia, September 23-25, 2021
T1  - Virtual Biscara robot integrated with open-architecture control system
EP  - 66
SP  - 63
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4617
ER  - 

@article{
author = "Slavković, Nikola and Vorkapić, Nikola and Živanović, Saša and Dimić, Zoran and Kokotović, Branko",
year = "2021",
abstract = "The paper presents the developed control system with open architecture for the BiSCARA robot, based on
the robot kinematic model. The control system is realized in the LinuxCNC software environment and includes the
virtual robot model configured using several predefined Python classes and OpenGL. Presented methodology for
configuring virtual robots could be used for any other robot or machine tool with parallel kinematic. The
verification of the robot control system and robot kinematic model has been performed through several examples of
drawing of contour on the configured virtual robot.",
publisher = "Novi Sad : Faculty of Technical Sciences Department of Production Engineering",
journal = "Proceedings of 14th International Scientific Conference MMA2021 Flexible Technologies, Novi Sad, Serbia, September 23-25, 2021",
title = "Virtual Biscara robot integrated with open-architecture control system",
pages = "66-63",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4617"
}

Slavković, N., Vorkapić, N., Živanović, S., Dimić, Z.,& Kokotović, B.. (2021). Virtual Biscara robot integrated with open-architecture control system. in Proceedings of 14th International Scientific Conference MMA2021 Flexible Technologies, Novi Sad, Serbia, September 23-25, 2021
Novi Sad : Faculty of Technical Sciences Department of Production Engineering., 63-66.
https://hdl.handle.net/21.15107/rcub_machinery_4617

Slavković N, Vorkapić N, Živanović S, Dimić Z, Kokotović B. Virtual Biscara robot integrated with open-architecture control system. in Proceedings of 14th International Scientific Conference MMA2021 Flexible Technologies, Novi Sad, Serbia, September 23-25, 2021. 2021;:63-66.
https://hdl.handle.net/21.15107/rcub_machinery_4617 .

Slavković, Nikola, Vorkapić, Nikola, Živanović, Saša, Dimić, Zoran, Kokotović, Branko, "Virtual Biscara robot integrated with open-architecture control system" in Proceedings of 14th International Scientific Conference MMA2021 Flexible Technologies, Novi Sad, Serbia, September 23-25, 2021 (2021):63-66,
https://hdl.handle.net/21.15107/rcub_machinery_4617 .

TY  - JOUR
AU  - Vorkapić, Nikola
AU  - Živanović, Saša
AU  - Dimić, Zoran
AU  - Kokotović, Branko
AU  - Slavković, Nikola
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3590
AB  - Ovaj rad opisuje konfigurisanje virtuelnog horizontalnog obradnog centra LOLA HBG80 u okviru sistema za programiranje i verifikaciju, kao i u okviru sistema otvorene arhitekture upravljanja. Horizontalni obradni centar LOLA HBG 80 podržan je ekvivalentnom virtuelnom mašinom u CAD/CAM okruženju (PTC Creo i Catia), STEP-NC mašinskom okruženju, kao i u upravljačkom sistemu. Virtuelna simulacija je od suštinske važnosti za obradu, a razvijene virtuelne mašine koriste se za verifikaciju programa i monitoring procesa obrade. Virtuelna mašina u sistemu za programiranje omogućava verifikaciju programa pre slanja na stvarnu mašinu i može da uključuje verifikaciju putanje alata (CLF-Cutter Location File) i verifikaciju G-koda. U radu se takođe govori o mogućnosti primene novog metoda programiranja poznatog kao STEP-NC i pripremi odgovarajućeg okruženja koje uključuje virtuelnu mašinu. Virtuelna mašina u sistemu upravljanja predstavlja poslednji nivo za konačnu verifikaciju programa, kao i sistem za nadzor procesa.
AB  - This paper describes configuring the virtual horizontal machining center LOLA HBG80 within the programming and verification system and the open architecture control system. The horizontal machining center LOLA HBG 80 is represented by an equivalent virtual machine in a CAD/CAM environment (PTC Creo and Catia), STEP-NC Machine environment, and the control system. Virtual simulation is essential for machining, and the developed virtual machines are used for program verification and monitoring of the machining process. The virtual machine in the programming system allows the verification of the program before sending it to the real machine and includes verification of the tool path (CLF-Cutter Location File) and G-code. The paper also discusses the possibility of applying a new programming method known as STEP-NC and preparing an adequate environment that includes a virtual machine. The virtual machine in the control system represents the last level for the final program verification and the process monitoring system.
PB  - Univerzitet u Beogradu - Mašinski fakultet, Beograd
T2  - FME Transactions
T1  - Virtuelni horizontalni obradni centar LOLA HBG 80 za verifikaciju i monitoring programa
T1  - Virtual horizontal machining center LOLA HBG 80 for program verification and monitoring
EP  - 703
IS  - 3
SP  - 696
VL  - 49
DO  - 10.5937/fme2103696V
ER  - 

@article{
author = "Vorkapić, Nikola and Živanović, Saša and Dimić, Zoran and Kokotović, Branko and Slavković, Nikola",
year = "2021",
abstract = "Ovaj rad opisuje konfigurisanje virtuelnog horizontalnog obradnog centra LOLA HBG80 u okviru sistema za programiranje i verifikaciju, kao i u okviru sistema otvorene arhitekture upravljanja. Horizontalni obradni centar LOLA HBG 80 podržan je ekvivalentnom virtuelnom mašinom u CAD/CAM okruženju (PTC Creo i Catia), STEP-NC mašinskom okruženju, kao i u upravljačkom sistemu. Virtuelna simulacija je od suštinske važnosti za obradu, a razvijene virtuelne mašine koriste se za verifikaciju programa i monitoring procesa obrade. Virtuelna mašina u sistemu za programiranje omogućava verifikaciju programa pre slanja na stvarnu mašinu i može da uključuje verifikaciju putanje alata (CLF-Cutter Location File) i verifikaciju G-koda. U radu se takođe govori o mogućnosti primene novog metoda programiranja poznatog kao STEP-NC i pripremi odgovarajućeg okruženja koje uključuje virtuelnu mašinu. Virtuelna mašina u sistemu upravljanja predstavlja poslednji nivo za konačnu verifikaciju programa, kao i sistem za nadzor procesa., This paper describes configuring the virtual horizontal machining center LOLA HBG80 within the programming and verification system and the open architecture control system. The horizontal machining center LOLA HBG 80 is represented by an equivalent virtual machine in a CAD/CAM environment (PTC Creo and Catia), STEP-NC Machine environment, and the control system. Virtual simulation is essential for machining, and the developed virtual machines are used for program verification and monitoring of the machining process. The virtual machine in the programming system allows the verification of the program before sending it to the real machine and includes verification of the tool path (CLF-Cutter Location File) and G-code. The paper also discusses the possibility of applying a new programming method known as STEP-NC and preparing an adequate environment that includes a virtual machine. The virtual machine in the control system represents the last level for the final program verification and the process monitoring system.",
publisher = "Univerzitet u Beogradu - Mašinski fakultet, Beograd",
journal = "FME Transactions",
title = "Virtuelni horizontalni obradni centar LOLA HBG 80 za verifikaciju i monitoring programa, Virtual horizontal machining center LOLA HBG 80 for program verification and monitoring",
pages = "703-696",
number = "3",
volume = "49",
doi = "10.5937/fme2103696V"
}

Vorkapić, N., Živanović, S., Dimić, Z., Kokotović, B.,& Slavković, N.. (2021). Virtuelni horizontalni obradni centar LOLA HBG 80 za verifikaciju i monitoring programa. in FME Transactions
Univerzitet u Beogradu - Mašinski fakultet, Beograd., 49(3), 696-703.
https://doi.org/10.5937/fme2103696V

Vorkapić N, Živanović S, Dimić Z, Kokotović B, Slavković N. Virtuelni horizontalni obradni centar LOLA HBG 80 za verifikaciju i monitoring programa. in FME Transactions. 2021;49(3):696-703.
doi:10.5937/fme2103696V .

Vorkapić, Nikola, Živanović, Saša, Dimić, Zoran, Kokotović, Branko, Slavković, Nikola, "Virtuelni horizontalni obradni centar LOLA HBG 80 za verifikaciju i monitoring programa" in FME Transactions, 49, no. 3 (2021):696-703,
https://doi.org/10.5937/fme2103696V . .

TY  - JOUR
AU  - Živanović, Saša
AU  - Popović, Mihajlo
AU  - Vorkapić, Nikola
AU  - Pjević, Miloš
AU  - Slavković, Nikola
PY  - 2020
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3267
AB  - Ovaj rad opisuje metodologiju za primenu brze izrade prototipova primenom subtraktivnih, aditivnih i formativnih tehnologija na osnovu STL fajlova. Tehnologije brze izrade prototipova uključuju digitalni lanac informacija CAD/CAM /CNC, do nivoa koji omogućava uspešnu realizaciju fizičkih modela koristeći novu tehnologiju, dodavanjem, oduzimanjem i oblikovanjem materijala. U radu su razmatrane uobičajene tehnologije brze izrade prototipova, za koje je predložena generalizovana metodologija za njihovu primenu. Pokazane su i mogućnosti za verifikaciju programa pre same izrade modela. Metodologija je verifikovana na konkretnim primerima izrade izabranih delova koristeći tehnologije oduzimanja, dodavanja materijala sloj po sloj, i izrade kalupa (dodavanjem materijala) za livenje modela od silikona.
AB  - This paper describes methodology for application of a rapid prototyping using subtractive, additive and formative technology based on STL files. Rapid prototyping technology includes using of a digital information chain CAD/CAM/CNC to a level which allows the successful realization of the physical models based on new technologies by adding, subtracting and molding material. The paper discusses about the usual technologies for rapid prototyping, for which a generalized methodology for their application has been proposed. The possibilities for program verification prior to the realization of the model were also shown. The methodology is verified on real examples of making selected parts. Used technologies are subtracting and adding material layers, layer by layer, and mold making (by adding material) for molding the silicone model.
PB  - Univerzitet u Beogradu - Mašinski fakultet, Beograd
T2  - FME Transactions
T1  - Pregled tehnologija brze izrade prototipova pomoću subtraktivnih, aditivnih i formativnih procesa
T1  - An overview of rapid prototyping technologies using subtractive, additive and formative processes
EP  - 253
IS  - 1
SP  - 246
VL  - 48
DO  - 10.5937/fmet2001246Z
ER  - 

@article{
author = "Živanović, Saša and Popović, Mihajlo and Vorkapić, Nikola and Pjević, Miloš and Slavković, Nikola",
year = "2020",
abstract = "Ovaj rad opisuje metodologiju za primenu brze izrade prototipova primenom subtraktivnih, aditivnih i formativnih tehnologija na osnovu STL fajlova. Tehnologije brze izrade prototipova uključuju digitalni lanac informacija CAD/CAM /CNC, do nivoa koji omogućava uspešnu realizaciju fizičkih modela koristeći novu tehnologiju, dodavanjem, oduzimanjem i oblikovanjem materijala. U radu su razmatrane uobičajene tehnologije brze izrade prototipova, za koje je predložena generalizovana metodologija za njihovu primenu. Pokazane su i mogućnosti za verifikaciju programa pre same izrade modela. Metodologija je verifikovana na konkretnim primerima izrade izabranih delova koristeći tehnologije oduzimanja, dodavanja materijala sloj po sloj, i izrade kalupa (dodavanjem materijala) za livenje modela od silikona., This paper describes methodology for application of a rapid prototyping using subtractive, additive and formative technology based on STL files. Rapid prototyping technology includes using of a digital information chain CAD/CAM/CNC to a level which allows the successful realization of the physical models based on new technologies by adding, subtracting and molding material. The paper discusses about the usual technologies for rapid prototyping, for which a generalized methodology for their application has been proposed. The possibilities for program verification prior to the realization of the model were also shown. The methodology is verified on real examples of making selected parts. Used technologies are subtracting and adding material layers, layer by layer, and mold making (by adding material) for molding the silicone model.",
publisher = "Univerzitet u Beogradu - Mašinski fakultet, Beograd",
journal = "FME Transactions",
title = "Pregled tehnologija brze izrade prototipova pomoću subtraktivnih, aditivnih i formativnih procesa, An overview of rapid prototyping technologies using subtractive, additive and formative processes",
pages = "253-246",
number = "1",
volume = "48",
doi = "10.5937/fmet2001246Z"
}

Živanović, S., Popović, M., Vorkapić, N., Pjević, M.,& Slavković, N.. (2020). Pregled tehnologija brze izrade prototipova pomoću subtraktivnih, aditivnih i formativnih procesa. in FME Transactions
Univerzitet u Beogradu - Mašinski fakultet, Beograd., 48(1), 246-253.
https://doi.org/10.5937/fmet2001246Z

Živanović S, Popović M, Vorkapić N, Pjević M, Slavković N. Pregled tehnologija brze izrade prototipova pomoću subtraktivnih, aditivnih i formativnih procesa. in FME Transactions. 2020;48(1):246-253.
doi:10.5937/fmet2001246Z .

Živanović, Saša, Popović, Mihajlo, Vorkapić, Nikola, Pjević, Miloš, Slavković, Nikola, "Pregled tehnologija brze izrade prototipova pomoću subtraktivnih, aditivnih i formativnih procesa" in FME Transactions, 48, no. 1 (2020):246-253,
https://doi.org/10.5937/fmet2001246Z . .

TY  - JOUR
AU  - Vorkapić, Nikola
AU  - Živanović, Saša
AU  - Dimić, Zoran
PY  - 2020
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3266
AB  - U radu je pokazan razvoj jedne 3-osne CNC mašine alatke za brzu izradu prototipova oduzimanjem materijala, sa dve translatorne i jednom obrtnom osom, čije je upravljanje zasnovano na LinuxCNC sistemu, sa integrisanom virtuelnom mašinom kao digitalnim dvojnikom. Analizirani su koncepti mašina sa jednom obrtnom osom i usvojen koncept mašine za realizaciju, koji je kompletno konfigurisan u CAD/CAM okruženju. Za uspešnu verifikaciju sistema za programiranje konfigurisana je i virtuelna mašina u CAD/CAM sistemu i u Vericutu. Završna validacija projekta mašine je ostvarena njenim probnim radom na karakterističnim primerima.
AB  - The paper shows the development of a 3-axis CNC machine tool for rapid prototyping by subtracting materials, with two translational and one rotating axis, whose control is based on the LinuxCNC system, with an integrated virtual machine as a digital twin. The concepts of machines with one rotary axis were analyzed and the concept of a machine for realization was adopted, which is completely configured in a CAD/CAM environment. For successful verification of the programming system, a virtual machine has been configured in the CAD/CAM system, as well as in Vericut. The final validation of the machine design was achieved by its trial work on characteristic examples.
PB  - Savez inženjera i tehničara Srbije, Beograd
T2  - Tehnika
T1  - Razvoj edukacione 3-osne CNC mašine alatke za brzu izradu prototipova sa dve translatorne i jednom obrtnom osom
T1  - Development of an educational 3-axis CNC machine tool for rapid prototyping with two translational and one rotary axis
EP  - 732
IS  - 6
SP  - 725
VL  - 75
DO  - 10.5937/tehnika2006725V
ER  - 

@article{
author = "Vorkapić, Nikola and Živanović, Saša and Dimić, Zoran",
year = "2020",
abstract = "U radu je pokazan razvoj jedne 3-osne CNC mašine alatke za brzu izradu prototipova oduzimanjem materijala, sa dve translatorne i jednom obrtnom osom, čije je upravljanje zasnovano na LinuxCNC sistemu, sa integrisanom virtuelnom mašinom kao digitalnim dvojnikom. Analizirani su koncepti mašina sa jednom obrtnom osom i usvojen koncept mašine za realizaciju, koji je kompletno konfigurisan u CAD/CAM okruženju. Za uspešnu verifikaciju sistema za programiranje konfigurisana je i virtuelna mašina u CAD/CAM sistemu i u Vericutu. Završna validacija projekta mašine je ostvarena njenim probnim radom na karakterističnim primerima., The paper shows the development of a 3-axis CNC machine tool for rapid prototyping by subtracting materials, with two translational and one rotating axis, whose control is based on the LinuxCNC system, with an integrated virtual machine as a digital twin. The concepts of machines with one rotary axis were analyzed and the concept of a machine for realization was adopted, which is completely configured in a CAD/CAM environment. For successful verification of the programming system, a virtual machine has been configured in the CAD/CAM system, as well as in Vericut. The final validation of the machine design was achieved by its trial work on characteristic examples.",
publisher = "Savez inženjera i tehničara Srbije, Beograd",
journal = "Tehnika",
title = "Razvoj edukacione 3-osne CNC mašine alatke za brzu izradu prototipova sa dve translatorne i jednom obrtnom osom, Development of an educational 3-axis CNC machine tool for rapid prototyping with two translational and one rotary axis",
pages = "732-725",
number = "6",
volume = "75",
doi = "10.5937/tehnika2006725V"
}

Vorkapić, N., Živanović, S.,& Dimić, Z.. (2020). Razvoj edukacione 3-osne CNC mašine alatke za brzu izradu prototipova sa dve translatorne i jednom obrtnom osom. in Tehnika
Savez inženjera i tehničara Srbije, Beograd., 75(6), 725-732.
https://doi.org/10.5937/tehnika2006725V

Vorkapić N, Živanović S, Dimić Z. Razvoj edukacione 3-osne CNC mašine alatke za brzu izradu prototipova sa dve translatorne i jednom obrtnom osom. in Tehnika. 2020;75(6):725-732.
doi:10.5937/tehnika2006725V .

Vorkapić, Nikola, Živanović, Saša, Dimić, Zoran, "Razvoj edukacione 3-osne CNC mašine alatke za brzu izradu prototipova sa dve translatorne i jednom obrtnom osom" in Tehnika, 75, no. 6 (2020):725-732,
https://doi.org/10.5937/tehnika2006725V . .

TY  - GEN
AU  - Živanović, Saša
AU  - Dimić, Zoran
AU  - Kokotović, Branko
AU  - Vasilić, Goran
AU  - Vorkapić, Nikola
AU  - Slavković, Nikola
PY  - 2020
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4783
AB  - Техничко решење Едукациона виртуелна петоосна машина алатка интегрисана са системом програмирања и управљања припада области нових производних технологија, односно машинама алаткама нове генерације, и новој генерацији домаћих мултифункционалних и реконфигурабилних обрадних система. Едукациона виртуелна петоосна машина се базира на модуларном принципу, који је успостављен као систем саставних елемената, на основу кога се може вршити реконфигуригурисање како хардверског тако и софтверског (управљачког) дела система.
T2  - Техничко решење (M85) је прихваћено од стране Матичног научног одбора за машинство и индустријски софтвер.
T1  - Едукациона виртуелна петоосна машина алатка интегрисана са системом програмирања и управљања - Tехничко решење
EP  - 43
SP  - 1
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4783
ER  - 

@misc{
author = "Živanović, Saša and Dimić, Zoran and Kokotović, Branko and Vasilić, Goran and Vorkapić, Nikola and Slavković, Nikola",
year = "2020",
abstract = "Техничко решење Едукациона виртуелна петоосна машина алатка интегрисана са системом програмирања и управљања припада области нових производних технологија, односно машинама алаткама нове генерације, и новој генерацији домаћих мултифункционалних и реконфигурабилних обрадних система. Едукациона виртуелна петоосна машина се базира на модуларном принципу, који је успостављен као систем саставних елемената, на основу кога се може вршити реконфигуригурисање како хардверског тако и софтверског (управљачког) дела система.",
journal = "Техничко решење (M85) је прихваћено од стране Матичног научног одбора за машинство и индустријски софтвер.",
title = "Едукациона виртуелна петоосна машина алатка интегрисана са системом програмирања и управљања - Tехничко решење",
pages = "43-1",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4783"
}

Živanović, S., Dimić, Z., Kokotović, B., Vasilić, G., Vorkapić, N.,& Slavković, N.. (2020). Едукациона виртуелна петоосна машина алатка интегрисана са системом програмирања и управљања - Tехничко решење. in Техничко решење (M85) је прихваћено од стране Матичног научног одбора за машинство и индустријски софтвер., 1-43.
https://hdl.handle.net/21.15107/rcub_machinery_4783

Živanović S, Dimić Z, Kokotović B, Vasilić G, Vorkapić N, Slavković N. Едукациона виртуелна петоосна машина алатка интегрисана са системом програмирања и управљања - Tехничко решење. in Техничко решење (M85) је прихваћено од стране Матичног научног одбора за машинство и индустријски софтвер.. 2020;:1-43.
https://hdl.handle.net/21.15107/rcub_machinery_4783 .

Živanović, Saša, Dimić, Zoran, Kokotović, Branko, Vasilić, Goran, Vorkapić, Nikola, Slavković, Nikola, "Едукациона виртуелна петоосна машина алатка интегрисана са системом програмирања и управљања - Tехничко решење" in Техничко решење (M85) је прихваћено од стране Матичног научног одбора за машинство и индустријски софтвер. (2020):1-43,
https://hdl.handle.net/21.15107/rcub_machinery_4783 .

TY  - CONF
AU  - Tanović, Ljubodrag
AU  - Živanović, Saša
AU  - Puzović, Radovan
AU  - Kokotović, Branko
AU  - Popović, Mihajlo
AU  - Slavković, Nikola
AU  - Mladenović, Goran
AU  - Stojadinović, Slavenko
AU  - Pjević, Miloš
AU  - Vorkapić, Nikola
PY  - 2020
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4615
AB  - Predmet istraživanja je nova generacija domaćih obradnih sistema, zajedno sa proizvodnim tehnologijama,
koje su potrebne za razvoj tih obradnih sistema i za njihov nesmetani rad. Ključne oblasti istraživanja u
ovim tehnologijama su mašine alatke, roboti, alati, tehnološki procesi i digitalni kvalitet. Istraživanja su
usmerena ka tehnologijama otvorene arhitekture, u pogledu sistema upravljanja i programiranja, ali i u
pogledu struktura ovih sistema, prateći aktuelna istraživanja u ovim oblastima. Tako se obezbeđuju
fleksibilnost tehnoloških resursa i agilnost kompanija, kojima su i namenjeni ovi novi obradni sistemi, sa
svojim pratećim tehnologijama. Ovde se daje pregled rezultata istraživanja za 2019. godinu, čime je
zaokružen ovaj devetogodišnji ciklus projekata.
PB  - Univerzitet u Beogradu Mašinski Fakultet
C3  - 42 JUPITER konferencija : zbornik radova, Beograd, oktobar 2020
T1  - Razvoj nove generacije domaćih obradnih sistema rezultati istraživanja za 2019. godinu
EP  - 3.21
SP  - 3.1
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4615
ER  - 

@conference{
author = "Tanović, Ljubodrag and Živanović, Saša and Puzović, Radovan and Kokotović, Branko and Popović, Mihajlo and Slavković, Nikola and Mladenović, Goran and Stojadinović, Slavenko and Pjević, Miloš and Vorkapić, Nikola",
year = "2020",
abstract = "Predmet istraživanja je nova generacija domaćih obradnih sistema, zajedno sa proizvodnim tehnologijama,
koje su potrebne za razvoj tih obradnih sistema i za njihov nesmetani rad. Ključne oblasti istraživanja u
ovim tehnologijama su mašine alatke, roboti, alati, tehnološki procesi i digitalni kvalitet. Istraživanja su
usmerena ka tehnologijama otvorene arhitekture, u pogledu sistema upravljanja i programiranja, ali i u
pogledu struktura ovih sistema, prateći aktuelna istraživanja u ovim oblastima. Tako se obezbeđuju
fleksibilnost tehnoloških resursa i agilnost kompanija, kojima su i namenjeni ovi novi obradni sistemi, sa
svojim pratećim tehnologijama. Ovde se daje pregled rezultata istraživanja za 2019. godinu, čime je
zaokružen ovaj devetogodišnji ciklus projekata.",
publisher = "Univerzitet u Beogradu Mašinski Fakultet",
journal = "42 JUPITER konferencija : zbornik radova, Beograd, oktobar 2020",
title = "Razvoj nove generacije domaćih obradnih sistema rezultati istraživanja za 2019. godinu",
pages = "3.21-3.1",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4615"
}

Tanović, L., Živanović, S., Puzović, R., Kokotović, B., Popović, M., Slavković, N., Mladenović, G., Stojadinović, S., Pjević, M.,& Vorkapić, N.. (2020). Razvoj nove generacije domaćih obradnih sistema rezultati istraživanja za 2019. godinu. in 42 JUPITER konferencija : zbornik radova, Beograd, oktobar 2020
Univerzitet u Beogradu Mašinski Fakultet., 3.1-3.21.
https://hdl.handle.net/21.15107/rcub_machinery_4615

Tanović L, Živanović S, Puzović R, Kokotović B, Popović M, Slavković N, Mladenović G, Stojadinović S, Pjević M, Vorkapić N. Razvoj nove generacije domaćih obradnih sistema rezultati istraživanja za 2019. godinu. in 42 JUPITER konferencija : zbornik radova, Beograd, oktobar 2020. 2020;:3.1-3.21.
https://hdl.handle.net/21.15107/rcub_machinery_4615 .

Tanović, Ljubodrag, Živanović, Saša, Puzović, Radovan, Kokotović, Branko, Popović, Mihajlo, Slavković, Nikola, Mladenović, Goran, Stojadinović, Slavenko, Pjević, Miloš, Vorkapić, Nikola, "Razvoj nove generacije domaćih obradnih sistema rezultati istraživanja za 2019. godinu" in 42 JUPITER konferencija : zbornik radova, Beograd, oktobar 2020 (2020):3.1-3.21,
https://hdl.handle.net/21.15107/rcub_machinery_4615 .

TY  - JOUR
AU  - Vorkapić, Nikola
AU  - Pjević, Miloš
AU  - Popović, Mihajlo
AU  - Slavković, Nikola
AU  - Živanović, Saša
PY  - 2020
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3387
AB  - Additive manufacturing (AM) is established as a new class for fabricating 3D physical prototypes layer by layer. Given that a large number of different 3D printers (AM machines) are present now (as a product of renowned manufacturers or custom-made products), the design of a benchmark artifact for evaluation of the AM processes is very important. This implies quality evaluation of the capabilities and limitations of each AM process and also the geometrical testing of the 3D printers. The paper proposes a benchmark artifact, according to the criteria for modeling of the benchmark artifact, with a large number of basic features for its geometrical evaluation. Although there are a large number of commercial software packages, this paper also proposes a low-cost developed measurement method of geometrical deviation that could be also adjustable for requirements in an easy way. Verification of the proposed deviation measurement method has been done by several experiments. The experiments include fabrication of the proposed benchmark artifact on available 3D printers by an FFF (fused filament fabrication) process also known as FDM (fused deposition modeling), and after that its scanning. Verification is done by comparing quality evaluation of each fabricated part by developed method and commercial software.
PB  - Korean Soc Mechanical Engineers, Seoul
T2  - Journal of Mechanical Science and Technology
T1  - An additive manufacturing benchmark artifact and deviation measurement method
EP  - 3026
IS  - 7
SP  - 3015
VL  - 34
DO  - 10.1007/s12206-020-0633-2
ER  - 

@article{
author = "Vorkapić, Nikola and Pjević, Miloš and Popović, Mihajlo and Slavković, Nikola and Živanović, Saša",
year = "2020",
abstract = "Additive manufacturing (AM) is established as a new class for fabricating 3D physical prototypes layer by layer. Given that a large number of different 3D printers (AM machines) are present now (as a product of renowned manufacturers or custom-made products), the design of a benchmark artifact for evaluation of the AM processes is very important. This implies quality evaluation of the capabilities and limitations of each AM process and also the geometrical testing of the 3D printers. The paper proposes a benchmark artifact, according to the criteria for modeling of the benchmark artifact, with a large number of basic features for its geometrical evaluation. Although there are a large number of commercial software packages, this paper also proposes a low-cost developed measurement method of geometrical deviation that could be also adjustable for requirements in an easy way. Verification of the proposed deviation measurement method has been done by several experiments. The experiments include fabrication of the proposed benchmark artifact on available 3D printers by an FFF (fused filament fabrication) process also known as FDM (fused deposition modeling), and after that its scanning. Verification is done by comparing quality evaluation of each fabricated part by developed method and commercial software.",
publisher = "Korean Soc Mechanical Engineers, Seoul",
journal = "Journal of Mechanical Science and Technology",
title = "An additive manufacturing benchmark artifact and deviation measurement method",
pages = "3026-3015",
number = "7",
volume = "34",
doi = "10.1007/s12206-020-0633-2"
}

Vorkapić, N., Pjević, M., Popović, M., Slavković, N.,& Živanović, S.. (2020). An additive manufacturing benchmark artifact and deviation measurement method. in Journal of Mechanical Science and Technology
Korean Soc Mechanical Engineers, Seoul., 34(7), 3015-3026.
https://doi.org/10.1007/s12206-020-0633-2

Vorkapić N, Pjević M, Popović M, Slavković N, Živanović S. An additive manufacturing benchmark artifact and deviation measurement method. in Journal of Mechanical Science and Technology. 2020;34(7):3015-3026.
doi:10.1007/s12206-020-0633-2 .

Vorkapić, Nikola, Pjević, Miloš, Popović, Mihajlo, Slavković, Nikola, Živanović, Saša, "An additive manufacturing benchmark artifact and deviation measurement method" in Journal of Mechanical Science and Technology, 34, no. 7 (2020):3015-3026,
https://doi.org/10.1007/s12206-020-0633-2 . .

TY  - JOUR
AU  - Vorkapić, Nikola
AU  - Živanović, Saša
AU  - Slavković, Nikola
AU  - Dimić, Zoran
AU  - Kokotović, Branko
PY  - 2020
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3356
AB  - This paper describes the configuration of a 3-axis vertical CNC machine tool for rapid prototyping with one rotary and two translational axes. The machine works in a polar-cylindrical coordinate system. The structure of the machine is C'OXZ. The virtual machine model is configured in the PTC Creo software environment. After configuring the virtual machine, the simulation of the CLF-based was performed in the mentioned software environments, and then the verification according to the G-code program in the Vericut software environment was performed. Programming and control of the configured prototype machine are realized in the LinuxCNC software environment, which is based on the PC platform. Also, in this paper, digital twin of machine realized in a python software environment is shown. The presented results show the proper functioning of the whole system.
T2  - Advanced Technologies and Materials
T1  - Configuring of 3-axis vertical CNC machine for rapid prototyping with two translatory and one rotary axes
EP  - 9
IS  - 1
SP  - 1
VL  - 45
DO  - 10.24867/ATM-2020-1-003
ER  - 

@article{
author = "Vorkapić, Nikola and Živanović, Saša and Slavković, Nikola and Dimić, Zoran and Kokotović, Branko",
year = "2020",
abstract = "This paper describes the configuration of a 3-axis vertical CNC machine tool for rapid prototyping with one rotary and two translational axes. The machine works in a polar-cylindrical coordinate system. The structure of the machine is C'OXZ. The virtual machine model is configured in the PTC Creo software environment. After configuring the virtual machine, the simulation of the CLF-based was performed in the mentioned software environments, and then the verification according to the G-code program in the Vericut software environment was performed. Programming and control of the configured prototype machine are realized in the LinuxCNC software environment, which is based on the PC platform. Also, in this paper, digital twin of machine realized in a python software environment is shown. The presented results show the proper functioning of the whole system.",
journal = "Advanced Technologies and Materials",
title = "Configuring of 3-axis vertical CNC machine for rapid prototyping with two translatory and one rotary axes",
pages = "9-1",
number = "1",
volume = "45",
doi = "10.24867/ATM-2020-1-003"
}

Vorkapić, N., Živanović, S., Slavković, N., Dimić, Z.,& Kokotović, B.. (2020). Configuring of 3-axis vertical CNC machine for rapid prototyping with two translatory and one rotary axes. in Advanced Technologies and Materials, 45(1), 1-9.
https://doi.org/10.24867/ATM-2020-1-003

Vorkapić N, Živanović S, Slavković N, Dimić Z, Kokotović B. Configuring of 3-axis vertical CNC machine for rapid prototyping with two translatory and one rotary axes. in Advanced Technologies and Materials. 2020;45(1):1-9.
doi:10.24867/ATM-2020-1-003 .

Vorkapić, Nikola, Živanović, Saša, Slavković, Nikola, Dimić, Zoran, Kokotović, Branko, "Configuring of 3-axis vertical CNC machine for rapid prototyping with two translatory and one rotary axes" in Advanced Technologies and Materials, 45, no. 1 (2020):1-9,
https://doi.org/10.24867/ATM-2020-1-003 . .