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

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

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

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

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

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  - Vasilić, Goran
AU  - Živanović, Saša
AU  - Milutinović, Milan
AU  - Dimić, Zoran
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7134
AB  - Proces obrade sečenja materijala je jedan od značajnijih metoda obrade u savremenoj industriji. Sa ciljem da se proces obrade u određenoj meri unapredi, u okviru ovoga rada je analizirano kretanje alata tokom procesa obrade kao i uticaj kretanja alata na kretanja mehanzma mašine alatke. Pažnja je posvećena kompleksnoj višeosnoj mašini alatki koja je konfigurisana pomoću dva ravanska rekonfigurabilna mehanizma sa paralenom kinematikom. Mašine alatke zasnovane na paralelnim mehanizmima, a namenjene za proces obrade sečenja žicom su nedovoljno izučavane te rezultati ovoga rada daju značajan doprinos u njihovom budućem razvoju.
AB  - The wire-cutting process is one of the most important processing methods in modern industry. To improve the machining process to a certain extent, the movement of the tool during the machining process as well as the influence of the movement of the tool on the movement of the mechanism of the machine tool were analyzed in this paper. Attention is devoted to a complex multi-axis machine tool, which is made up of two planar reconfigurable mechanisms with parallel kinematics. Machine tools based on parallel mechanisms, intended for the wire-cutting process, are insufficiently studied, and this work's results significantly contribute to their future development.
PB  - UNIVERSITY OF NOVI SAD, FACULTY OF TECHNICAL SCIENCES
C3  - 39th International Conference on Production Engineering of Serbia ICPES 2023, 26-27. October 2023, Novi Sad
T1  - Kinematika procesa obrade sečenja žicom / Kinematics of the wire cutting process
EP  - 211
SP  - 206
UR  - https://hdl.handle.net/21.15107/rcub_machinery_7134
ER  - 

@conference{
author = "Vasilić, Goran and Živanović, Saša and Milutinović, Milan and Dimić, Zoran",
year = "2023",
abstract = "Proces obrade sečenja materijala je jedan od značajnijih metoda obrade u savremenoj industriji. Sa ciljem da se proces obrade u određenoj meri unapredi, u okviru ovoga rada je analizirano kretanje alata tokom procesa obrade kao i uticaj kretanja alata na kretanja mehanzma mašine alatke. Pažnja je posvećena kompleksnoj višeosnoj mašini alatki koja je konfigurisana pomoću dva ravanska rekonfigurabilna mehanizma sa paralenom kinematikom. Mašine alatke zasnovane na paralelnim mehanizmima, a namenjene za proces obrade sečenja žicom su nedovoljno izučavane te rezultati ovoga rada daju značajan doprinos u njihovom budućem razvoju., The wire-cutting process is one of the most important processing methods in modern industry. To improve the machining process to a certain extent, the movement of the tool during the machining process as well as the influence of the movement of the tool on the movement of the mechanism of the machine tool were analyzed in this paper. Attention is devoted to a complex multi-axis machine tool, which is made up of two planar reconfigurable mechanisms with parallel kinematics. Machine tools based on parallel mechanisms, intended for the wire-cutting process, are insufficiently studied, and this work's results significantly contribute to their future development.",
publisher = "UNIVERSITY OF NOVI SAD, FACULTY OF TECHNICAL SCIENCES",
journal = "39th International Conference on Production Engineering of Serbia ICPES 2023, 26-27. October 2023, Novi Sad",
title = "Kinematika procesa obrade sečenja žicom / Kinematics of the wire cutting process",
pages = "211-206",
url = "https://hdl.handle.net/21.15107/rcub_machinery_7134"
}

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

TY  - CONF
AU  - 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  - CONF
AU  - Vasilić, Goran
AU  - Živanović, Saša
AU  - Kokotović, Branko
AU  - Dimić, Zoran
AU  - Milutinović, M.
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3809
AB  - The parallel 2DOF (Degrees of Freedom) mechanism presented in this paper has been the basis of much research by many authors. There are many significant results for the presented mechanism, and some of them are reported in this paper. The main goal of the research regarding the parallel mechanism is to create a hardware and software system that will be used to configure machine tools with three or more DOFs. The software system consists of two parts. One part is a set of applications intended for machine analysis and defining optimal configuration, and the other part is a control system of the machine adapted to the hardware of the machine, its configuration and purpose. For the presented mechanism, the kinematic model of the mechanism is described first. Based on the kinematic model, equations representing solutions of kinematics problems are derived. The derived equations are in a generalized form, with some variable parameters of the machine, and in such a form they correspond to every possible configuration of the reconfigurable mechanism. The equations are initially used to analyze some basic configurations, and then to analyze some configurations that have not been analyzed and presented so far. Also, equations in this form that are applicable for all possible configurations of the mechanism, are part of both parts of the software system. The final result of the presented procedures is one machine that has optimized parameters in accordance with the appropriate production process and with a configured control system that corresponds to the configuration of the machine.
PB  - Springer Science and Business Media Deutschland GmbH
C3  - Lecture Notes in Networks and Systems
T1  - Configuring a Class of Machines Based on Reconfigurable 2DOF Planar Parallel Mechanism
EP  - 197
SP  - 179
VL  - 323
DO  - 10.1007/978-3-030-86009-7_10
ER  - 

@conference{
author = "Vasilić, Goran and Živanović, Saša and Kokotović, Branko and Dimić, Zoran and Milutinović, M.",
year = "2022",
abstract = "The parallel 2DOF (Degrees of Freedom) mechanism presented in this paper has been the basis of much research by many authors. There are many significant results for the presented mechanism, and some of them are reported in this paper. The main goal of the research regarding the parallel mechanism is to create a hardware and software system that will be used to configure machine tools with three or more DOFs. The software system consists of two parts. One part is a set of applications intended for machine analysis and defining optimal configuration, and the other part is a control system of the machine adapted to the hardware of the machine, its configuration and purpose. For the presented mechanism, the kinematic model of the mechanism is described first. Based on the kinematic model, equations representing solutions of kinematics problems are derived. The derived equations are in a generalized form, with some variable parameters of the machine, and in such a form they correspond to every possible configuration of the reconfigurable mechanism. The equations are initially used to analyze some basic configurations, and then to analyze some configurations that have not been analyzed and presented so far. Also, equations in this form that are applicable for all possible configurations of the mechanism, are part of both parts of the software system. The final result of the presented procedures is one machine that has optimized parameters in accordance with the appropriate production process and with a configured control system that corresponds to the configuration of the machine.",
publisher = "Springer Science and Business Media Deutschland GmbH",
journal = "Lecture Notes in Networks and Systems",
title = "Configuring a Class of Machines Based on Reconfigurable 2DOF Planar Parallel Mechanism",
pages = "197-179",
volume = "323",
doi = "10.1007/978-3-030-86009-7_10"
}

Vasilić, G., Živanović, S., Kokotović, B., Dimić, Z.,& Milutinović, M.. (2022). Configuring a Class of Machines Based on Reconfigurable 2DOF Planar Parallel Mechanism. in Lecture Notes in Networks and Systems
Springer Science and Business Media Deutschland GmbH., 323, 179-197.
https://doi.org/10.1007/978-3-030-86009-7_10

Vasilić G, Živanović S, Kokotović B, Dimić Z, Milutinović M. Configuring a Class of Machines Based on Reconfigurable 2DOF Planar Parallel Mechanism. in Lecture Notes in Networks and Systems. 2022;323:179-197.
doi:10.1007/978-3-030-86009-7_10 .

Vasilić, Goran, Živanović, Saša, Kokotović, Branko, Dimić, Zoran, Milutinović, M., "Configuring a Class of Machines Based on Reconfigurable 2DOF Planar Parallel Mechanism" in Lecture Notes in Networks and Systems, 323 (2022):179-197,
https://doi.org/10.1007/978-3-030-86009-7_10 . .

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

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

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

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

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

TY  - 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  - Vasilić, Goran
AU  - Živanović, Saša
PY  - 2020
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4722
AB  - U okviru ovoga rada je predstavljena kompleksna višeosna mašina alatka koja je namenjena za proces obrade sečenja žicom. Kompleksnu mašinu alatku čine dva dvoosna rekonfigurabilna paralelna mehanizma spojenih žicom koja u ovom slučaju predstavlja alat same mašine. Rezolucija paralelnih mehanizama nije konstantna unutar celog radnog prostora pa i greške pozicionoranja platforme imaju različite vrednosti u različitim delovima radnog prostora. Ove greške se odražavaju na greške obrade kompleksne višeosne mašine a u ovom radu je prikazana analiza koja dovodi u vezu greške pozicioniranja platformi paralelnih mehanizama sa greškama obrade. Takođe, razmotra se i mogućnost umanjenja greške obrade rekonfigurisanjem paralelnih mehanizama od kojih je napravljena kompleksna višeosna mašina namenjena za proces obrade sečenja žicom.
AB  - Within this paper, a complex multi - axis machine tool is presented, which is intended for the wire cutting processing. The complex machine tool consists of two two-axis reconfigurable parallel mechanisms connected by a wire, which in this case represents the tool of the machine itself. The resolution of parallel mechanisms is not constant within the entire workspace, so the positioning errors of the platform have different values in different parts of the workspace. These errors are reflected in the machining process errors of a complex multi-axis machine, and in this paper an analysis is presented that connects the positioning errors of the platforms of parallel mechanisms with the processing errors. Also, the possibility of reducing the machining error by reconfiguring the parallel mechanisms from which the complex multi-axis machine intended for the wire cutting processing is made is considered.
PB  - Univerzitet u Beogradu, Mašinski fakultet
C3  - 42. JUPITER konferencija, 38. simpozijum NU-Roboti-FTS, Zbornik radova
T1  - Uticaj rezolucije ravanskog paralelnog mehanizma na tačnost kompleksne mašine alatke za proces obrade sečenja žicom
EP  - 3.115
SP  - 3.106
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4722
ER  - 

@conference{
author = "Vasilić, Goran and Živanović, Saša",
year = "2020",
abstract = "U okviru ovoga rada je predstavljena kompleksna višeosna mašina alatka koja je namenjena za proces obrade sečenja žicom. Kompleksnu mašinu alatku čine dva dvoosna rekonfigurabilna paralelna mehanizma spojenih žicom koja u ovom slučaju predstavlja alat same mašine. Rezolucija paralelnih mehanizama nije konstantna unutar celog radnog prostora pa i greške pozicionoranja platforme imaju različite vrednosti u različitim delovima radnog prostora. Ove greške se odražavaju na greške obrade kompleksne višeosne mašine a u ovom radu je prikazana analiza koja dovodi u vezu greške pozicioniranja platformi paralelnih mehanizama sa greškama obrade. Takođe, razmotra se i mogućnost umanjenja greške obrade rekonfigurisanjem paralelnih mehanizama od kojih je napravljena kompleksna višeosna mašina namenjena za proces obrade sečenja žicom., Within this paper, a complex multi - axis machine tool is presented, which is intended for the wire cutting processing. The complex machine tool consists of two two-axis reconfigurable parallel mechanisms connected by a wire, which in this case represents the tool of the machine itself. The resolution of parallel mechanisms is not constant within the entire workspace, so the positioning errors of the platform have different values in different parts of the workspace. These errors are reflected in the machining process errors of a complex multi-axis machine, and in this paper an analysis is presented that connects the positioning errors of the platforms of parallel mechanisms with the processing errors. Also, the possibility of reducing the machining error by reconfiguring the parallel mechanisms from which the complex multi-axis machine intended for the wire cutting processing is made is considered.",
publisher = "Univerzitet u Beogradu, Mašinski fakultet",
journal = "42. JUPITER konferencija, 38. simpozijum NU-Roboti-FTS, Zbornik radova",
title = "Uticaj rezolucije ravanskog paralelnog mehanizma na tačnost kompleksne mašine alatke za proces obrade sečenja žicom",
pages = "3.115-3.106",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4722"
}

Vasilić, G.,& Živanović, S.. (2020). Uticaj rezolucije ravanskog paralelnog mehanizma na tačnost kompleksne mašine alatke za proces obrade sečenja žicom. in 42. JUPITER konferencija, 38. simpozijum NU-Roboti-FTS, Zbornik radova
Univerzitet u Beogradu, Mašinski fakultet., 3.106-3.115.
https://hdl.handle.net/21.15107/rcub_machinery_4722

Vasilić G, Živanović S. Uticaj rezolucije ravanskog paralelnog mehanizma na tačnost kompleksne mašine alatke za proces obrade sečenja žicom. in 42. JUPITER konferencija, 38. simpozijum NU-Roboti-FTS, Zbornik radova. 2020;:3.106-3.115.
https://hdl.handle.net/21.15107/rcub_machinery_4722 .

Vasilić, Goran, Živanović, Saša, "Uticaj rezolucije ravanskog paralelnog mehanizma na tačnost kompleksne mašine alatke za proces obrade sečenja žicom" in 42. JUPITER konferencija, 38. simpozijum NU-Roboti-FTS, Zbornik radova (2020):3.106-3.115,
https://hdl.handle.net/21.15107/rcub_machinery_4722 .

TY  - JOUR
AU  - Vasilić, Goran
AU  - Živanović, Saša
PY  - 2020
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3372
AB  - The paper analyzes complex multi-axis reconfigurable machine, which meets all the requirements to perform the wire cutting process. The complex multi-axis machine consists of two parallel 2-axis mechanisms that are connected by wire. The resulting mechanism has four degrees of freedom and allows the translatory movement of the wire(tool) along two axes and rotation of the wire about the same axes. The machine has the ability to position the workpiece prior to machining. For analyzed mechanism the equations that present solutions of kinematics problems are derived. The derived equations are generalized and valid for any configuration of the mechanism and they were used to analyze the workspace, predict errors during machining process and virtual machine configuring, which simulates work of a real machine according to the generated program.
PB  - Pergamon-Elsevier Science Ltd, Oxford
T2  - Mechanism and Machine Theory
T1  - Configuring and analysis of complex multi-axis reconfigurable machine for wire cutting process
VL  - 149
DO  - 10.1016/j.mechmachtheory.2020.103833
ER  - 

@article{
author = "Vasilić, Goran and Živanović, Saša",
year = "2020",
abstract = "The paper analyzes complex multi-axis reconfigurable machine, which meets all the requirements to perform the wire cutting process. The complex multi-axis machine consists of two parallel 2-axis mechanisms that are connected by wire. The resulting mechanism has four degrees of freedom and allows the translatory movement of the wire(tool) along two axes and rotation of the wire about the same axes. The machine has the ability to position the workpiece prior to machining. For analyzed mechanism the equations that present solutions of kinematics problems are derived. The derived equations are generalized and valid for any configuration of the mechanism and they were used to analyze the workspace, predict errors during machining process and virtual machine configuring, which simulates work of a real machine according to the generated program.",
publisher = "Pergamon-Elsevier Science Ltd, Oxford",
journal = "Mechanism and Machine Theory",
title = "Configuring and analysis of complex multi-axis reconfigurable machine for wire cutting process",
volume = "149",
doi = "10.1016/j.mechmachtheory.2020.103833"
}

Vasilić, G.,& Živanović, S.. (2020). Configuring and analysis of complex multi-axis reconfigurable machine for wire cutting process. in Mechanism and Machine Theory
Pergamon-Elsevier Science Ltd, Oxford., 149.
https://doi.org/10.1016/j.mechmachtheory.2020.103833

Vasilić G, Živanović S. Configuring and analysis of complex multi-axis reconfigurable machine for wire cutting process. in Mechanism and Machine Theory. 2020;149.
doi:10.1016/j.mechmachtheory.2020.103833 .

Vasilić, Goran, Živanović, Saša, "Configuring and analysis of complex multi-axis reconfigurable machine for wire cutting process" in Mechanism and Machine Theory, 149 (2020),
https://doi.org/10.1016/j.mechmachtheory.2020.103833 . .

TY  - JOUR
AU  - Vasilić, Goran
AU  - Živanović, Saša
AU  - Kokotović, Branko
AU  - Dimić, Zoran
PY  - 2019
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3125
AB  - The paper describes the configuring and analysis of a class of generalized reconfigurable 2-axis parallel kinematic machine (R2PKM). A generalized model which is used for solving inverse and direct kinematic problem is presented. Generalized equations that present the solutions of kinematic problems are derived and they are valid for any configuration of R2PKM. Characteristic configurations of the mechanism are given as an example of the concept realization. For selected configurations, workspaces are defined and possible singular positions of the mechanism are analyzed. Optimization of the mechanism legs length was performed using the condition number. Determination of optimal legs length has been shown for several different configurations of the parallel mechanism. Control and programming system is configured and experimental prototype of R2PKM is realized. Verification of the configured machine, configured control and programming system was performed on the virtual machine and also on the prototype of the machine by drawing several different contours.
PB  - Korean Soc Mechanical Engineers, Seoul
T2  - Journal of Mechanical Science and Technology
T1  - Configuring and analysis of a class of generalized reconfigurable 2-axis parallel kinematic machine
EP  - 3421
IS  - 7
SP  - 3407
VL  - 33
DO  - 10.1007/s12206-019-0636-z
ER  - 

@article{
author = "Vasilić, Goran and Živanović, Saša and Kokotović, Branko and Dimić, Zoran",
year = "2019",
abstract = "The paper describes the configuring and analysis of a class of generalized reconfigurable 2-axis parallel kinematic machine (R2PKM). A generalized model which is used for solving inverse and direct kinematic problem is presented. Generalized equations that present the solutions of kinematic problems are derived and they are valid for any configuration of R2PKM. Characteristic configurations of the mechanism are given as an example of the concept realization. For selected configurations, workspaces are defined and possible singular positions of the mechanism are analyzed. Optimization of the mechanism legs length was performed using the condition number. Determination of optimal legs length has been shown for several different configurations of the parallel mechanism. Control and programming system is configured and experimental prototype of R2PKM is realized. Verification of the configured machine, configured control and programming system was performed on the virtual machine and also on the prototype of the machine by drawing several different contours.",
publisher = "Korean Soc Mechanical Engineers, Seoul",
journal = "Journal of Mechanical Science and Technology",
title = "Configuring and analysis of a class of generalized reconfigurable 2-axis parallel kinematic machine",
pages = "3421-3407",
number = "7",
volume = "33",
doi = "10.1007/s12206-019-0636-z"
}

Vasilić, G., Živanović, S., Kokotović, B.,& Dimić, Z.. (2019). Configuring and analysis of a class of generalized reconfigurable 2-axis parallel kinematic machine. in Journal of Mechanical Science and Technology
Korean Soc Mechanical Engineers, Seoul., 33(7), 3407-3421.
https://doi.org/10.1007/s12206-019-0636-z

Vasilić G, Živanović S, Kokotović B, Dimić Z. Configuring and analysis of a class of generalized reconfigurable 2-axis parallel kinematic machine. in Journal of Mechanical Science and Technology. 2019;33(7):3407-3421.
doi:10.1007/s12206-019-0636-z .

Vasilić, Goran, Živanović, Saša, Kokotović, Branko, Dimić, Zoran, "Configuring and analysis of a class of generalized reconfigurable 2-axis parallel kinematic machine" in Journal of Mechanical Science and Technology, 33, no. 7 (2019):3407-3421,
https://doi.org/10.1007/s12206-019-0636-z . .

TY  - CONF
AU  - Vasilić, Goran
AU  - Živanović, Saša
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4825
AB  - Proces obrade sečenja žicom iako spada u nekonvencionalne metode obrade je u velikoj meri zastupljen u industriji. Tokom procesa obrade sečenja žicom, javljaju se sile malih intzenziteta. Zbog toga se nameće zaključak da delovi mehanizma mašine ne moraju biti masivni što je i jedna od karakteristika paralelnih mehanizama.U okviru rada je razmatran hibridni mehanizam koga čine dva paralelna ravanska dvoosna mehanizma. Paralelni mehanizmi su rekonfigurabilni i međusobno povezani žicom koja vrši obradu. Za hibridni mehanizam su izvedene jednačine inverznog kinematičkog proble (IKP) i direktnog kinematičkog problema (DKP). Jednačine IKP-a i DKP-a su u opštem obliku i važe za svaku konfiguraciju paralelnih mehanizama hibridnog mehanizma. Izvedene jednačine se mogu koristiti za analize hibridnog mehanizma ali i za konfigurisanje upravljanja. Za četvoroosni hibridni mehanizam u ovom radu je data analiza radnog
prostora zasnovana na jednačinama DKP-a.
AB  - And if wire cutting process belongs to unconvetional method, process is largely represented in industry. During the wire cutting there are low force intensity appear. This leads to a conclusion that the parts of machine do not have to be heavy, which is one of advantage of parallel mechanism.
This paperpresents hybrid mechanism consisted of two parallel 2-axis mechanism. Parallel mechanisms are reconfigurable and they are connected with cutting wire. For hybrid mechanism are derived equation of inverse and direct kinematic problem. Equations of inverse kinematicproblem (IKP) and equations of direct kinematic problem (DKP) are shown in generalised form and they are valid for any configuration of parallel mechanism in hybrid mechanism.Derived equations can be used primarily for hybrid mechanism analysis and then for configuring of
machine control. For the 4-axis hybrid mechanism and one selected configuration, this paper presents the results of the analysis of the workspace based on the equations of DKP.
PB  - Univerzitet u Beogradu, Mašinski fakultet
C3  - 41. JUPITER konferenencija, 37. simpozijum NU-Roboti-FTS, Zbornik radova
T1  - Analiza radnog prostora rekonfigurabilnog četvoroosnog mehanizma sa hibridnom kinematikom za proces obrade sečenja žicom
T1  - Workspace analysis of reconfigurable 4-axis mechanism with hybrid mechanism for wire cutting process
EP  - 3.53
SP  - 3.45
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4825
ER  - 

@conference{
author = "Vasilić, Goran and Živanović, Saša",
year = "2018",
abstract = "Proces obrade sečenja žicom iako spada u nekonvencionalne metode obrade je u velikoj meri zastupljen u industriji. Tokom procesa obrade sečenja žicom, javljaju se sile malih intzenziteta. Zbog toga se nameće zaključak da delovi mehanizma mašine ne moraju biti masivni što je i jedna od karakteristika paralelnih mehanizama.U okviru rada je razmatran hibridni mehanizam koga čine dva paralelna ravanska dvoosna mehanizma. Paralelni mehanizmi su rekonfigurabilni i međusobno povezani žicom koja vrši obradu. Za hibridni mehanizam su izvedene jednačine inverznog kinematičkog proble (IKP) i direktnog kinematičkog problema (DKP). Jednačine IKP-a i DKP-a su u opštem obliku i važe za svaku konfiguraciju paralelnih mehanizama hibridnog mehanizma. Izvedene jednačine se mogu koristiti za analize hibridnog mehanizma ali i za konfigurisanje upravljanja. Za četvoroosni hibridni mehanizam u ovom radu je data analiza radnog
prostora zasnovana na jednačinama DKP-a., And if wire cutting process belongs to unconvetional method, process is largely represented in industry. During the wire cutting there are low force intensity appear. This leads to a conclusion that the parts of machine do not have to be heavy, which is one of advantage of parallel mechanism.
This paperpresents hybrid mechanism consisted of two parallel 2-axis mechanism. Parallel mechanisms are reconfigurable and they are connected with cutting wire. For hybrid mechanism are derived equation of inverse and direct kinematic problem. Equations of inverse kinematicproblem (IKP) and equations of direct kinematic problem (DKP) are shown in generalised form and they are valid for any configuration of parallel mechanism in hybrid mechanism.Derived equations can be used primarily for hybrid mechanism analysis and then for configuring of
machine control. For the 4-axis hybrid mechanism and one selected configuration, this paper presents the results of the analysis of the workspace based on the equations of DKP.",
publisher = "Univerzitet u Beogradu, Mašinski fakultet",
journal = "41. JUPITER konferenencija, 37. simpozijum NU-Roboti-FTS, Zbornik radova",
title = "Analiza radnog prostora rekonfigurabilnog četvoroosnog mehanizma sa hibridnom kinematikom za proces obrade sečenja žicom, Workspace analysis of reconfigurable 4-axis mechanism with hybrid mechanism for wire cutting process",
pages = "3.53-3.45",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4825"
}

Vasilić, G.,& Živanović, S.. (2018). Analiza radnog prostora rekonfigurabilnog četvoroosnog mehanizma sa hibridnom kinematikom za proces obrade sečenja žicom. in 41. JUPITER konferenencija, 37. simpozijum NU-Roboti-FTS, Zbornik radova
Univerzitet u Beogradu, Mašinski fakultet., 3.45-3.53.
https://hdl.handle.net/21.15107/rcub_machinery_4825

Vasilić G, Živanović S. Analiza radnog prostora rekonfigurabilnog četvoroosnog mehanizma sa hibridnom kinematikom za proces obrade sečenja žicom. in 41. JUPITER konferenencija, 37. simpozijum NU-Roboti-FTS, Zbornik radova. 2018;:3.45-3.53.
https://hdl.handle.net/21.15107/rcub_machinery_4825 .

Vasilić, Goran, Živanović, Saša, "Analiza radnog prostora rekonfigurabilnog četvoroosnog mehanizma sa hibridnom kinematikom za proces obrade sečenja žicom" in 41. JUPITER konferenencija, 37. simpozijum NU-Roboti-FTS, Zbornik radova (2018):3.45-3.53,
https://hdl.handle.net/21.15107/rcub_machinery_4825 .

TY  - JOUR
AU  - Živanović, Saša
AU  - Dimić, Zoran
AU  - Vasilić, Goran
AU  - Kokotović, Branko
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2786
AB  - U radu su pokazane koncepcije rekonfigurabilne dvoosne mašine sa paralelnom kinematikom koja se upravlja CNC sistemom otvorene arhitekture na bazi EMC2 softvera. Ovde je pokazana metodologija za konfigurisanje virtuelne mašine alatke koja se integriše sa upravljačkim sistemom i koja je takođe rekonfigurabilna. Verifikacija metodologije je ostvarena iscrtavanjem programirane test konture, na različitim tipovima i podvarijantama mašine, na konfigurisanim virtuelnim i stvarnim mašinama.
AB  - The paper presents the concepts of a reconfigurable 2 axis parallel kinematic machine that is controled using the PC Linux CNC system EMC2. In this paper given the methodology for configuring a virtual machine tool that integrates with the control system and which is also reconfigurable. Verification of the methodology was achieved by plotting the programmed contour test, on various types and subvariants of the machine, on configured virtual and real machines.
PB  - Savez inženjera i tehničara Srbije, Beograd
T2  - Tehnika
T1  - Konfigurisanje virtuelne rekonfigurabilne dvoosne mašine sa paralelnom kinematikom integrisane sa CNC sistemom otvorene arhitekture na bazi EMC2 softvera
T1  - Configuring of a virtual refonfigurable 2-axis paralel kinematic machine integrated with the open arhitecture CNC system based on EMC2 software
EP  - 526
IS  - 4
SP  - 519
VL  - 73
DO  - 10.5937/tehnika1804519Z
ER  - 

@article{
author = "Živanović, Saša and Dimić, Zoran and Vasilić, Goran and Kokotović, Branko",
year = "2018",
abstract = "U radu su pokazane koncepcije rekonfigurabilne dvoosne mašine sa paralelnom kinematikom koja se upravlja CNC sistemom otvorene arhitekture na bazi EMC2 softvera. Ovde je pokazana metodologija za konfigurisanje virtuelne mašine alatke koja se integriše sa upravljačkim sistemom i koja je takođe rekonfigurabilna. Verifikacija metodologije je ostvarena iscrtavanjem programirane test konture, na različitim tipovima i podvarijantama mašine, na konfigurisanim virtuelnim i stvarnim mašinama., The paper presents the concepts of a reconfigurable 2 axis parallel kinematic machine that is controled using the PC Linux CNC system EMC2. In this paper given the methodology for configuring a virtual machine tool that integrates with the control system and which is also reconfigurable. Verification of the methodology was achieved by plotting the programmed contour test, on various types and subvariants of the machine, on configured virtual and real machines.",
publisher = "Savez inženjera i tehničara Srbije, Beograd",
journal = "Tehnika",
title = "Konfigurisanje virtuelne rekonfigurabilne dvoosne mašine sa paralelnom kinematikom integrisane sa CNC sistemom otvorene arhitekture na bazi EMC2 softvera, Configuring of a virtual refonfigurable 2-axis paralel kinematic machine integrated with the open arhitecture CNC system based on EMC2 software",
pages = "526-519",
number = "4",
volume = "73",
doi = "10.5937/tehnika1804519Z"
}

Živanović, S., Dimić, Z., Vasilić, G.,& Kokotović, B.. (2018). Konfigurisanje virtuelne rekonfigurabilne dvoosne mašine sa paralelnom kinematikom integrisane sa CNC sistemom otvorene arhitekture na bazi EMC2 softvera. in Tehnika
Savez inženjera i tehničara Srbije, Beograd., 73(4), 519-526.
https://doi.org/10.5937/tehnika1804519Z

Živanović S, Dimić Z, Vasilić G, Kokotović B. Konfigurisanje virtuelne rekonfigurabilne dvoosne mašine sa paralelnom kinematikom integrisane sa CNC sistemom otvorene arhitekture na bazi EMC2 softvera. in Tehnika. 2018;73(4):519-526.
doi:10.5937/tehnika1804519Z .

Živanović, Saša, Dimić, Zoran, Vasilić, Goran, Kokotović, Branko, "Konfigurisanje virtuelne rekonfigurabilne dvoosne mašine sa paralelnom kinematikom integrisane sa CNC sistemom otvorene arhitekture na bazi EMC2 softvera" in Tehnika, 73, no. 4 (2018):519-526,
https://doi.org/10.5937/tehnika1804519Z . .

TY  - CONF
AU  - Živanović, Saša
AU  - Slavković, Nikola
AU  - Dimić, Zoran
AU  - Vasilić, Goran
AU  - Puzović, Radovan
AU  - Milutinović, Dragan
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4729
AB  - This paper presents an approach for applying new programming method based on STEP-NC standard in machining operations by using different CNC machine tools and robots for machining. The paper discusses about programming and simulation using configured virtual machines or robots for machining and software STEP-NC Machine. Programming verification has been realized by simulation in STEP-NC Machine using configured virtual CNC machine tools and robots for machining through several examples.
PB  - Aristoteles University of Thessaloniki
C3  - Proceedings of 6th International Conference on Manufacturing Engineering ICMEN 2017
T1  - Virtual machine tools and robots for machining simulation based on STEP-NC program
EP  - 51
SP  - 41
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4729
ER  - 

@conference{
author = "Živanović, Saša and Slavković, Nikola and Dimić, Zoran and Vasilić, Goran and Puzović, Radovan and Milutinović, Dragan",
year = "2017",
abstract = "This paper presents an approach for applying new programming method based on STEP-NC standard in machining operations by using different CNC machine tools and robots for machining. The paper discusses about programming and simulation using configured virtual machines or robots for machining and software STEP-NC Machine. Programming verification has been realized by simulation in STEP-NC Machine using configured virtual CNC machine tools and robots for machining through several examples.",
publisher = "Aristoteles University of Thessaloniki",
journal = "Proceedings of 6th International Conference on Manufacturing Engineering ICMEN 2017",
title = "Virtual machine tools and robots for machining simulation based on STEP-NC program",
pages = "51-41",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4729"
}

Živanović, S., Slavković, N., Dimić, Z., Vasilić, G., Puzović, R.,& Milutinović, D.. (2017). Virtual machine tools and robots for machining simulation based on STEP-NC program. in Proceedings of 6th International Conference on Manufacturing Engineering ICMEN 2017
Aristoteles University of Thessaloniki., 41-51.
https://hdl.handle.net/21.15107/rcub_machinery_4729

Živanović S, Slavković N, Dimić Z, Vasilić G, Puzović R, Milutinović D. Virtual machine tools and robots for machining simulation based on STEP-NC program. in Proceedings of 6th International Conference on Manufacturing Engineering ICMEN 2017. 2017;:41-51.
https://hdl.handle.net/21.15107/rcub_machinery_4729 .

Živanović, Saša, Slavković, Nikola, Dimić, Zoran, Vasilić, Goran, Puzović, Radovan, Milutinović, Dragan, "Virtual machine tools and robots for machining simulation based on STEP-NC program" in Proceedings of 6th International Conference on Manufacturing Engineering ICMEN 2017 (2017):41-51,
https://hdl.handle.net/21.15107/rcub_machinery_4729 .

TY  - JOUR
AU  - Vasilić, Goran
AU  - Živanović, Saša
AU  - Kokotović, Branko
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2721
AB  - Modelling and analysis of a 3-axis reconfigurable hybrid kinematic mechanism is shown in this paper. Generalized model for solving the inverse and direct kinematic problem is presented. Generalized equations show the solution of kinematic problems of hybrid mechanism applied for any configuration of reconfigurable machine. 3-axis hybrid mechanism consists of a 2-axis parallel mechanism and added serial translatory axis. Chosen characteristic mechanism configurations are shown as the realization examples. Workspace is determined for chosen configurations and possible singular mechanism positions are analysed.
PB  - Springer Heidelberg
T2  - Lecture Notes in Mechanical Engineering
T1  - Modelling and analysis of 3-axis reconfigurable hybrid kinematics mechanism with translatory actuated joints
EP  - 441
SP  - 429
DO  - 10.1007/978-3-319-56430-2_32
ER  - 

@article{
author = "Vasilić, Goran and Živanović, Saša and Kokotović, Branko",
year = "2017",
abstract = "Modelling and analysis of a 3-axis reconfigurable hybrid kinematic mechanism is shown in this paper. Generalized model for solving the inverse and direct kinematic problem is presented. Generalized equations show the solution of kinematic problems of hybrid mechanism applied for any configuration of reconfigurable machine. 3-axis hybrid mechanism consists of a 2-axis parallel mechanism and added serial translatory axis. Chosen characteristic mechanism configurations are shown as the realization examples. Workspace is determined for chosen configurations and possible singular mechanism positions are analysed.",
publisher = "Springer Heidelberg",
journal = "Lecture Notes in Mechanical Engineering",
title = "Modelling and analysis of 3-axis reconfigurable hybrid kinematics mechanism with translatory actuated joints",
pages = "441-429",
doi = "10.1007/978-3-319-56430-2_32"
}

Vasilić, G., Živanović, S.,& Kokotović, B.. (2017). Modelling and analysis of 3-axis reconfigurable hybrid kinematics mechanism with translatory actuated joints. in Lecture Notes in Mechanical Engineering
Springer Heidelberg., 429-441.
https://doi.org/10.1007/978-3-319-56430-2_32

Vasilić G, Živanović S, Kokotović B. Modelling and analysis of 3-axis reconfigurable hybrid kinematics mechanism with translatory actuated joints. in Lecture Notes in Mechanical Engineering. 2017;:429-441.
doi:10.1007/978-3-319-56430-2_32 .

Vasilić, Goran, Živanović, Saša, Kokotović, Branko, "Modelling and analysis of 3-axis reconfigurable hybrid kinematics mechanism with translatory actuated joints" in Lecture Notes in Mechanical Engineering (2017):429-441,
https://doi.org/10.1007/978-3-319-56430-2_32 . .

TY  - JOUR
AU  - Živanović, Saša
AU  - Vasilić, Goran
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2610
AB  - Novi metod programiranja numerički upravljanih mašina alatki, koji se javlja kao alternativa G kôdu (po standardu ISO6983), je protokol AP238, ili STEP-NC, po standardu ISO10303. U radu je dato poređenje klasičnog (G kôd) i novog načina programiranja (STEP-NC), struktura opreme potrebne za novi metod programiranja, struktura programa i aktuelni scenariji za primenu protokola STEP-NC. Verifikacija navedenih scenarija realizovana je kroz tri primera.
AB  - A new programming method of CNC Machine tools, which is developing as an alternative to G code, is AP238 protocol or STEP-NC, according to ISO 10303 standard. In this paper, a comparation between classical (G code) and new way of programming (STEP-NC ) is given. A structure of equipment needed for new programming method, program structure and current scenario for implementation of STEP-NC are shown. Verification of the above scenarios using the STEP-NC, is realized through three examples.
PB  - Univerzitet u Beogradu - Mašinski fakultet, Beograd
T2  - FME Transactions
T1  - Novi metod programiranja numerički upravljanih mašina alatki primenom STEP-NC protokola
T1  - A new CNC programming method using STEP-NC protocol
EP  - 158
IS  - 1
SP  - 149
VL  - 45
DO  - 10.5937/fmet1701149Z
ER  - 

@article{
author = "Živanović, Saša and Vasilić, Goran",
year = "2017",
abstract = "Novi metod programiranja numerički upravljanih mašina alatki, koji se javlja kao alternativa G kôdu (po standardu ISO6983), je protokol AP238, ili STEP-NC, po standardu ISO10303. U radu je dato poređenje klasičnog (G kôd) i novog načina programiranja (STEP-NC), struktura opreme potrebne za novi metod programiranja, struktura programa i aktuelni scenariji za primenu protokola STEP-NC. Verifikacija navedenih scenarija realizovana je kroz tri primera., A new programming method of CNC Machine tools, which is developing as an alternative to G code, is AP238 protocol or STEP-NC, according to ISO 10303 standard. In this paper, a comparation between classical (G code) and new way of programming (STEP-NC ) is given. A structure of equipment needed for new programming method, program structure and current scenario for implementation of STEP-NC are shown. Verification of the above scenarios using the STEP-NC, is realized through three examples.",
publisher = "Univerzitet u Beogradu - Mašinski fakultet, Beograd",
journal = "FME Transactions",
title = "Novi metod programiranja numerički upravljanih mašina alatki primenom STEP-NC protokola, A new CNC programming method using STEP-NC protocol",
pages = "158-149",
number = "1",
volume = "45",
doi = "10.5937/fmet1701149Z"
}

Živanović, S.,& Vasilić, G.. (2017). Novi metod programiranja numerički upravljanih mašina alatki primenom STEP-NC protokola. in FME Transactions
Univerzitet u Beogradu - Mašinski fakultet, Beograd., 45(1), 149-158.
https://doi.org/10.5937/fmet1701149Z

Živanović S, Vasilić G. Novi metod programiranja numerički upravljanih mašina alatki primenom STEP-NC protokola. in FME Transactions. 2017;45(1):149-158.
doi:10.5937/fmet1701149Z .

Živanović, Saša, Vasilić, Goran, "Novi metod programiranja numerički upravljanih mašina alatki primenom STEP-NC protokola" in FME Transactions, 45, no. 1 (2017):149-158,
https://doi.org/10.5937/fmet1701149Z . .

TY  - JOUR
AU  - Vasilić, Goran
AU  - Živanović, Saša
PY  - 2016
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2271
AB  - U ovom radu je prikazano modeliranje i analiza jednog rekonfigurabilnog dvoosnog paralelnog mehanizma. Predstavljen je generalizovani model za rešavanje inverznog i direktnog kinematičkog problema. Izvedene su uopštene jednačine koje predstavljaju rešenje kinematičkih problema paralelnog mehanizma koje važe za bilo koju konfiguraciju rekonfigurabilnog dvoosnog paralelnog mehanizma. Kao primeri realizacije pokazane su izdvojene karakteristične konfiguracije mehanizma. Za izdvojene konfiguracije određen je radni prostor i analizirani su mogući singularni položaji mehanizma.
AB  - This paper presents modeling and analysis of a 2-axis reconfigurable parallel mechanism. In this paper, generalized model for solving of inverse and direct kinematic problems is presented. Generalized equations that represent the solution of the kinematic problems of parallel kinematic mechanism applicable to any configuration of 2-axis reconfigurable parallel mechanism are derived. Some of characteristic configurations of 2-axis parallel mechanism are shown as examples. For the selected configurations the workspaces are determined and the possible singular positions of these configurations are analized.
PB  - Savez inženjera i tehničara Srbije, Beograd
T2  - Tehnika
T1  - Modeliranje i analiza rekonfigurabilnog dvoosnog paralelnog mehanizma MOMA sa osnaženim translatornim zglobovima
T1  - Modeling and analysis of 2-axis reconfigurable parallel mechanism MOMA with translatory actuated joints
EP  - 63
IS  - 1
SP  - 57
VL  - 71
DO  - 10.5937/tehnika1601057V
ER  - 

@article{
author = "Vasilić, Goran and Živanović, Saša",
year = "2016",
abstract = "U ovom radu je prikazano modeliranje i analiza jednog rekonfigurabilnog dvoosnog paralelnog mehanizma. Predstavljen je generalizovani model za rešavanje inverznog i direktnog kinematičkog problema. Izvedene su uopštene jednačine koje predstavljaju rešenje kinematičkih problema paralelnog mehanizma koje važe za bilo koju konfiguraciju rekonfigurabilnog dvoosnog paralelnog mehanizma. Kao primeri realizacije pokazane su izdvojene karakteristične konfiguracije mehanizma. Za izdvojene konfiguracije određen je radni prostor i analizirani su mogući singularni položaji mehanizma., This paper presents modeling and analysis of a 2-axis reconfigurable parallel mechanism. In this paper, generalized model for solving of inverse and direct kinematic problems is presented. Generalized equations that represent the solution of the kinematic problems of parallel kinematic mechanism applicable to any configuration of 2-axis reconfigurable parallel mechanism are derived. Some of characteristic configurations of 2-axis parallel mechanism are shown as examples. For the selected configurations the workspaces are determined and the possible singular positions of these configurations are analized.",
publisher = "Savez inženjera i tehničara Srbije, Beograd",
journal = "Tehnika",
title = "Modeliranje i analiza rekonfigurabilnog dvoosnog paralelnog mehanizma MOMA sa osnaženim translatornim zglobovima, Modeling and analysis of 2-axis reconfigurable parallel mechanism MOMA with translatory actuated joints",
pages = "63-57",
number = "1",
volume = "71",
doi = "10.5937/tehnika1601057V"
}

Vasilić, G.,& Živanović, S.. (2016). Modeliranje i analiza rekonfigurabilnog dvoosnog paralelnog mehanizma MOMA sa osnaženim translatornim zglobovima. in Tehnika
Savez inženjera i tehničara Srbije, Beograd., 71(1), 57-63.
https://doi.org/10.5937/tehnika1601057V

Vasilić G, Živanović S. Modeliranje i analiza rekonfigurabilnog dvoosnog paralelnog mehanizma MOMA sa osnaženim translatornim zglobovima. in Tehnika. 2016;71(1):57-63.
doi:10.5937/tehnika1601057V .

Vasilić, Goran, Živanović, Saša, "Modeliranje i analiza rekonfigurabilnog dvoosnog paralelnog mehanizma MOMA sa osnaženim translatornim zglobovima" in Tehnika, 71, no. 1 (2016):57-63,
https://doi.org/10.5937/tehnika1601057V . .

TY  - CONF
AU  - Vasilić, Goran
AU  - Živanović, Saša
PY  - 2016
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4889
AB  - U ovom radu je analiziran radni prostor dvoosnog paralelnog mehanizam MOMA. Razmatrani mehanizam je rekonfigurabilan, a u samom radu su prikazane neke od mogućih konfiguracija mehanizma koje je moguće realizovati. Za mehanizam MOMA su izvedene jednačine koje predstavljaju rešenja geometrijskih problema. Jednačine su generalizovane i važe za svaku moguću konfiguraciju paralelnog mehanizma MOMA. Dobijene jednačine se koriste za dalje analize paralelnog mehanizma. U okviru ovoga rada, jednačine su korišćene za analizu radnog prostora različitih konfiguracija paralelnog mehanizma i to primenom jednačina inverznog
geometrijskog problema i primenom jednačina direktnog geometrijskog problema.
AB  - This paper analyzes the workspace of 2 DOF parallel mechanism MOMA. The mechanism can be
reconfigured, and the paper shows some of the possible configurations of the mechanism that can be implemented. For mechanism MOMA presents the equations that represent the solution of geometric problems. The equations are generalized and can be used to every possible configuration of parallel mechanism MOMA. The governing equations are used for further analysis of parallel mechanisms. In this paper, equations were used for the analysis of working space for different configurations of parallel mechanisms and applying the equation of inverse geometric problems and applying equations using direct geometrical problem.
PB  - Univerzitet u Beogradu, Mašinski fakultet
C3  - 40. JUPITER konferenencija, 36. simpozijum NU-Roboti-FTS, Zbornik radova
T1  - Analiza radnog prostora rekonfigurabilnog dvoosnog paralelnog mehanizma MOMA
T1  - Workspace analysis of reconfigurable 2-DOF parallel mechanism MOMA
EP  - 3.54
SP  - 3.47
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4889
ER  - 

@conference{
author = "Vasilić, Goran and Živanović, Saša",
year = "2016",
abstract = "U ovom radu je analiziran radni prostor dvoosnog paralelnog mehanizam MOMA. Razmatrani mehanizam je rekonfigurabilan, a u samom radu su prikazane neke od mogućih konfiguracija mehanizma koje je moguće realizovati. Za mehanizam MOMA su izvedene jednačine koje predstavljaju rešenja geometrijskih problema. Jednačine su generalizovane i važe za svaku moguću konfiguraciju paralelnog mehanizma MOMA. Dobijene jednačine se koriste za dalje analize paralelnog mehanizma. U okviru ovoga rada, jednačine su korišćene za analizu radnog prostora različitih konfiguracija paralelnog mehanizma i to primenom jednačina inverznog
geometrijskog problema i primenom jednačina direktnog geometrijskog problema., This paper analyzes the workspace of 2 DOF parallel mechanism MOMA. The mechanism can be
reconfigured, and the paper shows some of the possible configurations of the mechanism that can be implemented. For mechanism MOMA presents the equations that represent the solution of geometric problems. The equations are generalized and can be used to every possible configuration of parallel mechanism MOMA. The governing equations are used for further analysis of parallel mechanisms. In this paper, equations were used for the analysis of working space for different configurations of parallel mechanisms and applying the equation of inverse geometric problems and applying equations using direct geometrical problem.",
publisher = "Univerzitet u Beogradu, Mašinski fakultet",
journal = "40. JUPITER konferenencija, 36. simpozijum NU-Roboti-FTS, Zbornik radova",
title = "Analiza radnog prostora rekonfigurabilnog dvoosnog paralelnog mehanizma MOMA, Workspace analysis of reconfigurable 2-DOF parallel mechanism MOMA",
pages = "3.54-3.47",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4889"
}

Vasilić, G.,& Živanović, S.. (2016). Analiza radnog prostora rekonfigurabilnog dvoosnog paralelnog mehanizma MOMA. in 40. JUPITER konferenencija, 36. simpozijum NU-Roboti-FTS, Zbornik radova
Univerzitet u Beogradu, Mašinski fakultet., 3.47-3.54.
https://hdl.handle.net/21.15107/rcub_machinery_4889

Vasilić G, Živanović S. Analiza radnog prostora rekonfigurabilnog dvoosnog paralelnog mehanizma MOMA. in 40. JUPITER konferenencija, 36. simpozijum NU-Roboti-FTS, Zbornik radova. 2016;:3.47-3.54.
https://hdl.handle.net/21.15107/rcub_machinery_4889 .

Vasilić, Goran, Živanović, Saša, "Analiza radnog prostora rekonfigurabilnog dvoosnog paralelnog mehanizma MOMA" in 40. JUPITER konferenencija, 36. simpozijum NU-Roboti-FTS, Zbornik radova (2016):3.47-3.54,
https://hdl.handle.net/21.15107/rcub_machinery_4889 .

TY  - JOUR
AU  - Vasilić, Goran
AU  - Živanović, Saša
PY  - 2016
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4887
AB  - Modelling and analysis of a 2-axis reconfigurable parallel mechanism is shown in this paper. Generalized model for solving the inverse and direct kinematic problem is presented. Generalized equations showing the solution of kinematic problems of parallel mechanism applied for any configuration of reconfigurable 2-axis parallel mechanism are realized. Secluded characteristical mechanism configurations are shown as the realization examples. Workspace is determined for chosen configurations and possible singular mechanism positions are analysed.
PB  - Belgrade : Union of Engineers and Technicians of Serbia
T2  - TECHNICS special edition, Magazine of the union of engineers and technicians of Serbia
T1  - Modelling and analysis of 2-axis reconfigurable parallel mechanism MOMA with translatory actuated joints
EP  - 66
SP  - 59
DO  - 10.5937/tehnika1601057V
ER  - 

@article{
author = "Vasilić, Goran and Živanović, Saša",
year = "2016",
abstract = "Modelling and analysis of a 2-axis reconfigurable parallel mechanism is shown in this paper. Generalized model for solving the inverse and direct kinematic problem is presented. Generalized equations showing the solution of kinematic problems of parallel mechanism applied for any configuration of reconfigurable 2-axis parallel mechanism are realized. Secluded characteristical mechanism configurations are shown as the realization examples. Workspace is determined for chosen configurations and possible singular mechanism positions are analysed.",
publisher = "Belgrade : Union of Engineers and Technicians of Serbia",
journal = "TECHNICS special edition, Magazine of the union of engineers and technicians of Serbia",
title = "Modelling and analysis of 2-axis reconfigurable parallel mechanism MOMA with translatory actuated joints",
pages = "66-59",
doi = "10.5937/tehnika1601057V"
}

Vasilić, G.,& Živanović, S.. (2016). Modelling and analysis of 2-axis reconfigurable parallel mechanism MOMA with translatory actuated joints. in TECHNICS special edition, Magazine of the union of engineers and technicians of Serbia
Belgrade : Union of Engineers and Technicians of Serbia., 59-66.
https://doi.org/10.5937/tehnika1601057V

Vasilić G, Živanović S. Modelling and analysis of 2-axis reconfigurable parallel mechanism MOMA with translatory actuated joints. in TECHNICS special edition, Magazine of the union of engineers and technicians of Serbia. 2016;:59-66.
doi:10.5937/tehnika1601057V .

Vasilić, Goran, Živanović, Saša, "Modelling and analysis of 2-axis reconfigurable parallel mechanism MOMA with translatory actuated joints" in TECHNICS special edition, Magazine of the union of engineers and technicians of Serbia (2016):59-66,
https://doi.org/10.5937/tehnika1601057V . .

TY  - CONF
AU  - Vasilić, Goran
AU  - Živanović, Saša
AU  - Kokotović, Branko
AU  - Glavonjić, Miloš
PY  - 2014
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4975
AB  - U radu je opisan jedan dvoosni rekonfigurabilni paralelni mehanizam MOMA, kao i mogućnosti njegove primene. Za paralelni mehanizam je rešen inverzni geometrijski problem a potom i izvedena Jakobijan matrica. Jednačine su izvedene tako da mogu predstavljati formalizam koji se može primeniti za bilo koju konfiguraciju paralelnog mehanizma MOMA. Prikazana je metoda za optimizaciju dužine spojki dvoosnog paralelnog mehanizma preko globalnog indeksa pokretljivosti. Određene su optimalne dužine spojki za više različitih konfiguracija paralelnog mehanizma. Na samom kraju je objašnjeno šta se dobija sa optimalnom dužinom spojki a šta se dobija kada se koristile spojke koje nemaju optimalnu dužinu.
AB  - This paper describes a 2- axis reconfigurable parallel mechanism MOMA, and the possibility of its
application. Inverse geometry problem for the parallel mechanism is solved and thereafter derived is Jacobian matrix. Equations can presents formalism which may be applied to any configuration of parallel mechanism MOMA. Shown is a method for optimisation lenght of legs. The method is based on global conditioning index. For different configuration of parallel mechanism were determined optimal lenght of legs. At the end is explanation the importance of optimal length of legs, what it offers and what is the result if lenght of legs are different of optimal lenght.
PB  - Univerzitet u Beogradu, Mašinski fakultet
C3  - 39. JUPITER konferenencija, 35. simpozijum NU-Roboti-FTS, Zbornik radova, 3.28-3.35.
T1  - Optimizacija dužina spojki dvoosnog rekonfigurabilnog paralelnog mehanizma - MOMA
T1  - Optimisation of the lenght of legs of the 2-DOF reconfigurable parallel mechanism – MOMA
EP  - 3.35
SP  - 3.28
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4975
ER  - 

@conference{
author = "Vasilić, Goran and Živanović, Saša and Kokotović, Branko and Glavonjić, Miloš",
year = "2014",
abstract = "U radu je opisan jedan dvoosni rekonfigurabilni paralelni mehanizam MOMA, kao i mogućnosti njegove primene. Za paralelni mehanizam je rešen inverzni geometrijski problem a potom i izvedena Jakobijan matrica. Jednačine su izvedene tako da mogu predstavljati formalizam koji se može primeniti za bilo koju konfiguraciju paralelnog mehanizma MOMA. Prikazana je metoda za optimizaciju dužine spojki dvoosnog paralelnog mehanizma preko globalnog indeksa pokretljivosti. Određene su optimalne dužine spojki za više različitih konfiguracija paralelnog mehanizma. Na samom kraju je objašnjeno šta se dobija sa optimalnom dužinom spojki a šta se dobija kada se koristile spojke koje nemaju optimalnu dužinu., This paper describes a 2- axis reconfigurable parallel mechanism MOMA, and the possibility of its
application. Inverse geometry problem for the parallel mechanism is solved and thereafter derived is Jacobian matrix. Equations can presents formalism which may be applied to any configuration of parallel mechanism MOMA. Shown is a method for optimisation lenght of legs. The method is based on global conditioning index. For different configuration of parallel mechanism were determined optimal lenght of legs. At the end is explanation the importance of optimal length of legs, what it offers and what is the result if lenght of legs are different of optimal lenght.",
publisher = "Univerzitet u Beogradu, Mašinski fakultet",
journal = "39. JUPITER konferenencija, 35. simpozijum NU-Roboti-FTS, Zbornik radova, 3.28-3.35.",
title = "Optimizacija dužina spojki dvoosnog rekonfigurabilnog paralelnog mehanizma - MOMA, Optimisation of the lenght of legs of the 2-DOF reconfigurable parallel mechanism – MOMA",
pages = "3.35-3.28",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4975"
}

Vasilić, G., Živanović, S., Kokotović, B.,& Glavonjić, M.. (2014). Optimizacija dužina spojki dvoosnog rekonfigurabilnog paralelnog mehanizma - MOMA. in 39. JUPITER konferenencija, 35. simpozijum NU-Roboti-FTS, Zbornik radova, 3.28-3.35.
Univerzitet u Beogradu, Mašinski fakultet., 3.28-3.35.
https://hdl.handle.net/21.15107/rcub_machinery_4975

Vasilić G, Živanović S, Kokotović B, Glavonjić M. Optimizacija dužina spojki dvoosnog rekonfigurabilnog paralelnog mehanizma - MOMA. in 39. JUPITER konferenencija, 35. simpozijum NU-Roboti-FTS, Zbornik radova, 3.28-3.35.. 2014;:3.28-3.35.
https://hdl.handle.net/21.15107/rcub_machinery_4975 .

Vasilić, Goran, Živanović, Saša, Kokotović, Branko, Glavonjić, Miloš, "Optimizacija dužina spojki dvoosnog rekonfigurabilnog paralelnog mehanizma - MOMA" in 39. JUPITER konferenencija, 35. simpozijum NU-Roboti-FTS, Zbornik radova, 3.28-3.35. (2014):3.28-3.35,
https://hdl.handle.net/21.15107/rcub_machinery_4975 .