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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

TY  - CONF
AU  - Živanović, Saša
AU  - Tabaković, Slobodan
AU  - Dimić, Zoran
AU  - Zeljković, Milan
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7132
AB  - The paper discusses the variants of upgrading the basic concept of the machine with hybrid kinematics based on the O-X glide mechanism, by adding one or two rotating axes on the work table. The variant project was realized at the level of virtual prototypes, which were used to simulate the operation of the machine according to the given program. In this way, the programming environment was created and programming verification was performed on the virtual machining system. The simulations were carried out on selected workpieces of certain dimensions, taking into account the available working space of the machine. In this way, machining simulations on a virtual prototype of four-axis and five-axis machining demonstrated and verified the possibility of machining with additional rotating axes.
PB  - UNIVERSITY OF NOVI SAD, FACULTY OF TECHNICAL SCIENCES
C3  - 39th International Conference on Production Engineering of Serbia ICPES 2023, 26-27. October 2023, Novi Sad, 2023
T1  - Variants of hybrid kinematics machine tools based on O-X glide mechanism with additional rotary axes
EP  - 283
SP  - 278
UR  - https://hdl.handle.net/21.15107/rcub_machinery_7132
ER  - 

@conference{
author = "Živanović, Saša and Tabaković, Slobodan and Dimić, Zoran and Zeljković, Milan",
year = "2023",
abstract = "The paper discusses the variants of upgrading the basic concept of the machine with hybrid kinematics based on the O-X glide mechanism, by adding one or two rotating axes on the work table. The variant project was realized at the level of virtual prototypes, which were used to simulate the operation of the machine according to the given program. In this way, the programming environment was created and programming verification was performed on the virtual machining system. The simulations were carried out on selected workpieces of certain dimensions, taking into account the available working space of the machine. In this way, machining simulations on a virtual prototype of four-axis and five-axis machining demonstrated and verified the possibility of machining with additional rotating axes.",
publisher = "UNIVERSITY OF NOVI SAD, FACULTY OF TECHNICAL SCIENCES",
journal = "39th International Conference on Production Engineering of Serbia ICPES 2023, 26-27. October 2023, Novi Sad, 2023",
title = "Variants of hybrid kinematics machine tools based on O-X glide mechanism with additional rotary axes",
pages = "283-278",
url = "https://hdl.handle.net/21.15107/rcub_machinery_7132"
}

Živanović, S., Tabaković, S., Dimić, Z.,& Zeljković, M.. (2023). Variants of hybrid kinematics machine tools based on O-X glide mechanism with additional rotary axes. in 39th International Conference on Production Engineering of Serbia ICPES 2023, 26-27. October 2023, Novi Sad, 2023
UNIVERSITY OF NOVI SAD, FACULTY OF TECHNICAL SCIENCES., 278-283.
https://hdl.handle.net/21.15107/rcub_machinery_7132

Živanović S, Tabaković S, Dimić Z, Zeljković M. Variants of hybrid kinematics machine tools based on O-X glide mechanism with additional rotary axes. in 39th International Conference on Production Engineering of Serbia ICPES 2023, 26-27. October 2023, Novi Sad, 2023. 2023;:278-283.
https://hdl.handle.net/21.15107/rcub_machinery_7132 .

Živanović, Saša, Tabaković, Slobodan, Dimić, Zoran, Zeljković, Milan, "Variants of hybrid kinematics machine tools based on O-X glide mechanism with additional rotary axes" in 39th International Conference on Production Engineering of Serbia ICPES 2023, 26-27. October 2023, Novi Sad, 2023 (2023):278-283,
https://hdl.handle.net/21.15107/rcub_machinery_7132 .

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  - Živanović, Saša
AU  - Slavković, Nikola
AU  - Tabaković, Slobodan
AU  - Dimić, Zoran
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/6808
AB  - U radu je pokazano programiranje i verifikacija programa za robote koji izvršavaju zadatke mašinske
obrade. Razmatrani su različiti metodi za programiranje robota, kao i konfigurisanje virtuelnih robota
za simulaciju rada i verifikaciju programa za zadatke mašinske obrade.
PB  - Beograd : Savez inženjera i tehničara Srbije
T2  - Tehnika
T1  - Programiranje i verifikacija programa za robote koji izvršavaju zadatke mašinske obrade
EP  - 176
IS  - 2
SP  - 167
VL  - 73
DO  - 10.5937/tehnika2302167Z
ER  - 

@article{
author = "Živanović, Saša and Slavković, Nikola and Tabaković, Slobodan and Dimić, Zoran",
year = "2023",
abstract = "U radu je pokazano programiranje i verifikacija programa za robote koji izvršavaju zadatke mašinske
obrade. Razmatrani su različiti metodi za programiranje robota, kao i konfigurisanje virtuelnih robota
za simulaciju rada i verifikaciju programa za zadatke mašinske obrade.",
publisher = "Beograd : Savez inženjera i tehničara Srbije",
journal = "Tehnika",
title = "Programiranje i verifikacija programa za robote koji izvršavaju zadatke mašinske obrade",
pages = "176-167",
number = "2",
volume = "73",
doi = "10.5937/tehnika2302167Z"
}

Živanović, S., Slavković, N., Tabaković, S.,& Dimić, Z.. (2023). Programiranje i verifikacija programa za robote koji izvršavaju zadatke mašinske obrade. in Tehnika
Beograd : Savez inženjera i tehničara Srbije., 73(2), 167-176.
https://doi.org/10.5937/tehnika2302167Z

Živanović S, Slavković N, Tabaković S, Dimić Z. Programiranje i verifikacija programa za robote koji izvršavaju zadatke mašinske obrade. in Tehnika. 2023;73(2):167-176.
doi:10.5937/tehnika2302167Z .

Živanović, Saša, Slavković, Nikola, Tabaković, Slobodan, Dimić, Zoran, "Programiranje i verifikacija programa za robote koji izvršavaju zadatke mašinske obrade" in Tehnika, 73, no. 2 (2023):167-176,
https://doi.org/10.5937/tehnika2302167Z . .

TY  - CONF
AU  - Tabaković, Slobodan
AU  - Živanović, Saša
AU  - Zeljković, Milan
AU  - Budimir, Aleksandar
AU  - Dimić, Zoran
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/6878
AB  - The intensive development of machine production in recent years has enabled the emergence of
machine tools with parallel and hybrid kinematic structure and their integration into industrial
production. Therefore, extensive research has been conducted in recent years to examine the
exploitation possibilities of such machines and the justification of their application in certain areas
of mechanical engineering. An important part of that research is the examination of accuracy and
the possibility of calibrating machine tools with non‐trivial kinematics.
The paper presents a part of the research carried out to determine the influence of the
characteristics of individual machine components on the overall positioning accuracy of the machine tool prototype based on the O‐X glide hybrid mechanism.
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, 47-53,
T1  - Examination of the positioning accuracy of the machine tool with hybrid kinematics
UR  - https://hdl.handle.net/21.15107/rcub_machinery_6878
ER  - 

@conference{
author = "Tabaković, Slobodan and Živanović, Saša and Zeljković, Milan and Budimir, Aleksandar and Dimić, Zoran",
year = "2023",
abstract = "The intensive development of machine production in recent years has enabled the emergence of
machine tools with parallel and hybrid kinematic structure and their integration into industrial
production. Therefore, extensive research has been conducted in recent years to examine the
exploitation possibilities of such machines and the justification of their application in certain areas
of mechanical engineering. An important part of that research is the examination of accuracy and
the possibility of calibrating machine tools with non‐trivial kinematics.
The paper presents a part of the research carried out to determine the influence of the
characteristics of individual machine components on the overall positioning accuracy of the machine tool prototype based on the O‐X glide hybrid mechanism.",
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, 47-53,",
title = "Examination of the positioning accuracy of the machine tool with hybrid kinematics",
url = "https://hdl.handle.net/21.15107/rcub_machinery_6878"
}

Tabaković, S., Živanović, S., Zeljković, M., Budimir, A.,& Dimić, Z.. (2023). Examination of the positioning accuracy of the machine tool with hybrid kinematics. in Proceedings of the 16th International Conference on Accomplishments in Mechanical and Industrial Engineering DEMI 2023, 47-53,
University of Banja Luka, Faculty of Mechanical Engineering..
https://hdl.handle.net/21.15107/rcub_machinery_6878

Tabaković S, Živanović S, Zeljković M, Budimir A, Dimić Z. Examination of the positioning accuracy of the machine tool with hybrid kinematics. in Proceedings of the 16th International Conference on Accomplishments in Mechanical and Industrial Engineering DEMI 2023, 47-53,. 2023;.
https://hdl.handle.net/21.15107/rcub_machinery_6878 .

Tabaković, Slobodan, Živanović, Saša, Zeljković, Milan, Budimir, Aleksandar, Dimić, Zoran, "Examination of the positioning accuracy of the machine tool with hybrid kinematics" in Proceedings of the 16th International Conference on Accomplishments in Mechanical and Industrial Engineering DEMI 2023, 47-53, (2023),
https://hdl.handle.net/21.15107/rcub_machinery_6878 .

Kvrgić, V., Ribić, A., Dimić, Z., Živanović, S.,& Dodevska, Z.. (2022). Ekvivalentne geometrijske greške obrtnih osa i novi algoritam kompenzacije geometrijskih grešaka neortogonalnoh petoosnih mašina alatki – GECOMP. in Tehničko rešenje je prihvaćeno od strane Matičnog naučnog odbora za mašinstvo i industrijski softver kao M85 – Novo tehničko rešenje (nije komercijalizovano), 2022.
Institut Mihajlo Pupin, Univerzitet u Beogradu., 1-54.
https://hdl.handle.net/21.15107/rcub_machinery_7726

Kvrgić V, Ribić A, Dimić Z, Živanović S, Dodevska Z. Ekvivalentne geometrijske greške obrtnih osa i novi algoritam kompenzacije geometrijskih grešaka neortogonalnoh petoosnih mašina alatki – GECOMP. in Tehničko rešenje je prihvaćeno od strane Matičnog naučnog odbora za mašinstvo i industrijski softver kao M85 – Novo tehničko rešenje (nije komercijalizovano), 2022.. 2022;:1-54.
https://hdl.handle.net/21.15107/rcub_machinery_7726 .

Kvrgić, Vladimir, Ribić, Aleksandar, Dimić, Zoran, Živanović, Saša, Dodevska, Zorica, "Ekvivalentne geometrijske greške obrtnih osa i novi algoritam kompenzacije geometrijskih grešaka neortogonalnoh petoosnih mašina alatki – GECOMP" in Tehničko rešenje je prihvaćeno od strane Matičnog naučnog odbora za mašinstvo i industrijski softver kao M85 – Novo tehničko rešenje (nije komercijalizovano), 2022. (2022):1-54,
https://hdl.handle.net/21.15107/rcub_machinery_7726 .

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

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

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

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

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

TY  - JOUR
AU  - Živanović, Saša
AU  - Dimić, Zoran
AU  - Rakić, Aleksandar
AU  - Slavković, Nikola
AU  - Kokotović, Branko
AU  - Manasijević, Srecko
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/95
AB  - The paper proposes a programming methodology for advanced manufacturing based on STEP-NC, a compliant to multi-axis CNC woodworking machining center. The equivalent virtual machine in the CAD/CAM, STEP-NC environment, is developed as a part of a programming system for considered CNC woodworking machining center. STEP-NC aims to provide a digital thread for CNC manufacturing running in the STEP-NC System world via the Internet that can enable advanced e-Manufacturing. Virtual machine as a digital twin is configured and implemented into the control system based on LinuxCNC, but configured virtual machine as a Web interface based on STEP-NC, also. The developed methodology is validated through machining simulation using the configured digital twin in the control system and machining experiments on the real machine.
PB  - Taylor & Francis Ltd, Abingdon
T2  - Wood Material Science & Engineering
T1  - Programming methodology for multi-axis CNC woodworking machining center for advanced manufacturing based on STEP-NC
DO  - 10.1080/17480272.2022.2057816
ER  - 

@article{
author = "Živanović, Saša and Dimić, Zoran and Rakić, Aleksandar and Slavković, Nikola and Kokotović, Branko and Manasijević, Srecko",
year = "2022",
abstract = "The paper proposes a programming methodology for advanced manufacturing based on STEP-NC, a compliant to multi-axis CNC woodworking machining center. The equivalent virtual machine in the CAD/CAM, STEP-NC environment, is developed as a part of a programming system for considered CNC woodworking machining center. STEP-NC aims to provide a digital thread for CNC manufacturing running in the STEP-NC System world via the Internet that can enable advanced e-Manufacturing. Virtual machine as a digital twin is configured and implemented into the control system based on LinuxCNC, but configured virtual machine as a Web interface based on STEP-NC, also. The developed methodology is validated through machining simulation using the configured digital twin in the control system and machining experiments on the real machine.",
publisher = "Taylor & Francis Ltd, Abingdon",
journal = "Wood Material Science & Engineering",
title = "Programming methodology for multi-axis CNC woodworking machining center for advanced manufacturing based on STEP-NC",
doi = "10.1080/17480272.2022.2057816"
}

Živanović, S., Dimić, Z., Rakić, A., Slavković, N., Kokotović, B.,& Manasijević, S.. (2022). Programming methodology for multi-axis CNC woodworking machining center for advanced manufacturing based on STEP-NC. in Wood Material Science & Engineering
Taylor & Francis Ltd, Abingdon..
https://doi.org/10.1080/17480272.2022.2057816

Živanović S, Dimić Z, Rakić A, Slavković N, Kokotović B, Manasijević S. Programming methodology for multi-axis CNC woodworking machining center for advanced manufacturing based on STEP-NC. in Wood Material Science & Engineering. 2022;.
doi:10.1080/17480272.2022.2057816 .

Živanović, Saša, Dimić, Zoran, Rakić, Aleksandar, Slavković, Nikola, Kokotović, Branko, Manasijević, Srecko, "Programming methodology for multi-axis CNC woodworking machining center for advanced manufacturing based on STEP-NC" in Wood Material Science & Engineering (2022),
https://doi.org/10.1080/17480272.2022.2057816 . .

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  - Budimir, Aleksandar
AU  - Tabaković, Slobodan
AU  - Živanović, Saša
AU  - Dimić, Zoran
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4661
AB  - Mašine alatke sa parelelno-serijskom (hibridnom) kinematskom strukturom predstavljaju nekonvencionalan tip mašina alatki čije karakteristike zavise od kinematske konfiguracije. Zbog toga je neophodno da se za svaki tip mehanizma izvrši posebna analiza tačnosti. Ako tačnost neke
mašine opisujemo kao karakteristiku koja je posledica niza osobina mehaničke i upravljačke strukture, onda je jedan od najboljih pokazatelja karakteristika mašine stanje tačnosti pozicioniranja. Kod konvencionalnih mašina alatki koje se baziraju isključivo na serijskoj (rednoj) kinematskoj strukturi postoje standardi i preporuke (ISO 230-2, VDI DGQ 3441), koje se bave problemom tačnosti pozicioniranja. U ovom radu se opisuje merenje tačnosti pozicinoranja mašine alatke sa hibridnom kinematskom strukturom „O-X glide“ prema standardu ISO 230-2 i analiziraju se dobijeni rezultati.
AB  - Machine tool with parallel-serial (hybrid) kinematics structure represents unconventional type machine tools whose characteristics depend on the kinematic configuration. Therefore, it is necessary to perform a separate accuracy analysis for each type of mechanism. If we describe the
accuracy of a machine as a characteristic that is a consequence of a number of properties of the mechanical and control structure, then one of the best indicators of the characteristics of a machine is the state of positioning accuracy. Conventional machine tools based exclusively on serial (in-line) kinematic structure have standards and recommendations (ISO 230-2, VDI DGQ 3441) that deal with positioning accuracy. This paper describes the measurement of the positioning accuracy of a machine tool with a hybrid kinematic structure "O-X glide" according to the ISO 230-2 standard and analyzes the obtained results of this mechatronic system.
PB  - Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet
C3  - Proceedings of 21st International Symposium INFOTEH-JAHORINA, Jahorina, 16 – 18. March 2022.
T1  - Ispitivanje tačnosti pozicioniranja mašina alatki sa hibridnom kinematikom prema standardu ISO 230-2
T1  - Testing the positioning accuracy of machine tools with hybrid kinematics according to ISO 230-2 standard
EP  - 133
SP  - 128
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4661
ER  - 

@conference{
author = "Budimir, Aleksandar and Tabaković, Slobodan and Živanović, Saša and Dimić, Zoran",
year = "2022",
abstract = "Mašine alatke sa parelelno-serijskom (hibridnom) kinematskom strukturom predstavljaju nekonvencionalan tip mašina alatki čije karakteristike zavise od kinematske konfiguracije. Zbog toga je neophodno da se za svaki tip mehanizma izvrši posebna analiza tačnosti. Ako tačnost neke
mašine opisujemo kao karakteristiku koja je posledica niza osobina mehaničke i upravljačke strukture, onda je jedan od najboljih pokazatelja karakteristika mašine stanje tačnosti pozicioniranja. Kod konvencionalnih mašina alatki koje se baziraju isključivo na serijskoj (rednoj) kinematskoj strukturi postoje standardi i preporuke (ISO 230-2, VDI DGQ 3441), koje se bave problemom tačnosti pozicioniranja. U ovom radu se opisuje merenje tačnosti pozicinoranja mašine alatke sa hibridnom kinematskom strukturom „O-X glide“ prema standardu ISO 230-2 i analiziraju se dobijeni rezultati., Machine tool with parallel-serial (hybrid) kinematics structure represents unconventional type machine tools whose characteristics depend on the kinematic configuration. Therefore, it is necessary to perform a separate accuracy analysis for each type of mechanism. If we describe the
accuracy of a machine as a characteristic that is a consequence of a number of properties of the mechanical and control structure, then one of the best indicators of the characteristics of a machine is the state of positioning accuracy. Conventional machine tools based exclusively on serial (in-line) kinematic structure have standards and recommendations (ISO 230-2, VDI DGQ 3441) that deal with positioning accuracy. This paper describes the measurement of the positioning accuracy of a machine tool with a hybrid kinematic structure "O-X glide" according to the ISO 230-2 standard and analyzes the obtained results of this mechatronic system.",
publisher = "Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet",
journal = "Proceedings of 21st International Symposium INFOTEH-JAHORINA, Jahorina, 16 – 18. March 2022.",
title = "Ispitivanje tačnosti pozicioniranja mašina alatki sa hibridnom kinematikom prema standardu ISO 230-2, Testing the positioning accuracy of machine tools with hybrid kinematics according to ISO 230-2 standard",
pages = "133-128",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4661"
}

Budimir, A., Tabaković, S., Živanović, S.,& Dimić, Z.. (2022). Ispitivanje tačnosti pozicioniranja mašina alatki sa hibridnom kinematikom prema standardu ISO 230-2. in Proceedings of 21st International Symposium INFOTEH-JAHORINA, Jahorina, 16 – 18. March 2022.
Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet., 128-133.
https://hdl.handle.net/21.15107/rcub_machinery_4661

Budimir A, Tabaković S, Živanović S, Dimić Z. Ispitivanje tačnosti pozicioniranja mašina alatki sa hibridnom kinematikom prema standardu ISO 230-2. in Proceedings of 21st International Symposium INFOTEH-JAHORINA, Jahorina, 16 – 18. March 2022.. 2022;:128-133.
https://hdl.handle.net/21.15107/rcub_machinery_4661 .

Budimir, Aleksandar, Tabaković, Slobodan, Živanović, Saša, Dimić, Zoran, "Ispitivanje tačnosti pozicioniranja mašina alatki sa hibridnom kinematikom prema standardu ISO 230-2" in Proceedings of 21st International Symposium INFOTEH-JAHORINA, Jahorina, 16 – 18. March 2022. (2022):128-133,
https://hdl.handle.net/21.15107/rcub_machinery_4661 .

TY  - CONF
AU  - Erwinski, Krystian
AU  - Karasek, Gabriel
AU  - Živanović, Saša
AU  - Dimić, Zoran
AU  - Slavković, Nikola
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4646
AB  - This paper presents a laboratory stand for investigating trajectory optimization algorithms for non-cartesian numerically controlled machines. The stand consists of a Delta machine in KEOPS configuration with linear motors controlled by high performance servo-drives. The machine is controlled by real-time control system with LinuxCNC software. The control is performed via real-time communication bus EtherCAT. The paper also describes the extension of the LinuxCNC control system with NURBS interpolaion and s-curve feedrate profiling. Also research to be performed on the machine is discussed concerning development of trajectory optimization algorithms for parallel kinematics machines.
AB  - U ovom radu je predstavljena laboratorijska postavka za razvoj algoritama optimizacije trajektorije numerički upravljanih mašina alatki sa spegnutim osama. Laboratorijsku postavku čine DELTA mehanizam u KEOPS konfiguraciji sa linearnim osnaženim osama pogonjenih servo pogonima visokih performansi. Upravljanje mašinom je bazirano na LinuxCNC softverskom sistemu. Komunikacija pri upravljanju se vrši u realnom vremenu preko EtherCAT-a. U radu je takođe opisano proširenje LinuxCNC upravljačkog sistema sa NURBS interpolacijom i profilisanjem brzine pomoćnog kretanja pomoću s-krive. Dalja istraživanja će se odnositi na razvoj algoritama optimizacije trajektorije za mašine alatke sa paralelnom kinematikom.
PB  - University of Belgrade, Faculty of Mechanical Engineering
C3  - 43rd JUPITER conference, 39th symposium NC-Robots-FTS, Proceedings
T1  - Real-time control of a KEOPS-DELTA parallel kinematics machine using LinuxCNC and ETHERCAT
EP  - 3.54
SP  - 3.47
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4646
ER  - 

@conference{
author = "Erwinski, Krystian and Karasek, Gabriel and Živanović, Saša and Dimić, Zoran and Slavković, Nikola",
year = "2022",
abstract = "This paper presents a laboratory stand for investigating trajectory optimization algorithms for non-cartesian numerically controlled machines. The stand consists of a Delta machine in KEOPS configuration with linear motors controlled by high performance servo-drives. The machine is controlled by real-time control system with LinuxCNC software. The control is performed via real-time communication bus EtherCAT. The paper also describes the extension of the LinuxCNC control system with NURBS interpolaion and s-curve feedrate profiling. Also research to be performed on the machine is discussed concerning development of trajectory optimization algorithms for parallel kinematics machines., U ovom radu je predstavljena laboratorijska postavka za razvoj algoritama optimizacije trajektorije numerički upravljanih mašina alatki sa spegnutim osama. Laboratorijsku postavku čine DELTA mehanizam u KEOPS konfiguraciji sa linearnim osnaženim osama pogonjenih servo pogonima visokih performansi. Upravljanje mašinom je bazirano na LinuxCNC softverskom sistemu. Komunikacija pri upravljanju se vrši u realnom vremenu preko EtherCAT-a. U radu je takođe opisano proširenje LinuxCNC upravljačkog sistema sa NURBS interpolacijom i profilisanjem brzine pomoćnog kretanja pomoću s-krive. Dalja istraživanja će se odnositi na razvoj algoritama optimizacije trajektorije za mašine alatke sa paralelnom kinematikom.",
publisher = "University of Belgrade, Faculty of Mechanical Engineering",
journal = "43rd JUPITER conference, 39th symposium NC-Robots-FTS, Proceedings",
title = "Real-time control of a KEOPS-DELTA parallel kinematics machine using LinuxCNC and ETHERCAT",
pages = "3.54-3.47",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4646"
}

Erwinski, K., Karasek, G., Živanović, S., Dimić, Z.,& Slavković, N.. (2022). Real-time control of a KEOPS-DELTA parallel kinematics machine using LinuxCNC and ETHERCAT. in 43rd JUPITER conference, 39th symposium NC-Robots-FTS, Proceedings
University of Belgrade, Faculty of Mechanical Engineering., 3.47-3.54.
https://hdl.handle.net/21.15107/rcub_machinery_4646

Erwinski K, Karasek G, Živanović S, Dimić Z, Slavković N. Real-time control of a KEOPS-DELTA parallel kinematics machine using LinuxCNC and ETHERCAT. in 43rd JUPITER conference, 39th symposium NC-Robots-FTS, Proceedings. 2022;:3.47-3.54.
https://hdl.handle.net/21.15107/rcub_machinery_4646 .

Erwinski, Krystian, Karasek, Gabriel, Živanović, Saša, Dimić, Zoran, Slavković, Nikola, "Real-time control of a KEOPS-DELTA parallel kinematics machine using LinuxCNC and ETHERCAT" in 43rd JUPITER conference, 39th symposium NC-Robots-FTS, Proceedings (2022):3.47-3.54,
https://hdl.handle.net/21.15107/rcub_machinery_4646 .

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  - Dimić, Zoran
AU  - Pavlović, Dragan
AU  - Živanović, Saša
AU  - Furtula, Mladen
AU  - Đurković, Marija
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4636
AB  - U radu je predstavljen sistem upravljanja otvorene arhitekture koji je implementiran na troosnoj glodalici za obradu drveta koja može raditi i u vertikalnoj i u horizontalnoj konfiguraciji, kao i upravljanje preko digitalnog dvojnika. Razvoj sistema upravljanja putem digitalnog dvojnika motivisan je istraživačkim i edukacionim zahtevima. Razmatrani CNC sistem za obradu drveta je podržan od ekvivalentne virtuelne mašine u sistemu upravljanja kao digitalni dvojnik. Konfigurisana virtuelna mašina se koristi za simulaciju obrade i verifikaciju sistema upravljanja. Prikazan je jedan test predmet koji je obrađen u vertikalnoj i horizontalnoj konfiguraciji da bi se potvrdila efikasnost razvijenih sistema upravljanja koji su zasnovani na LinuxCNC-u.
PB  - Univerzitet u Beogradu, Mašinski fakultet
C3  - 43. JUPITER konferencija, 39. simpozijum NU-Roboti-FTS : Zbornik radova
T1  - Dinamički rekonfigurabilni upravljački sistem sa promenljivim tokom izvršavanja kinematičkog algoritma
T1  - Dynamic reconfigurable control system with variable flow of execution of kinematic algorithm
EP  - 3.117
SP  - 3.112
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4636
ER  - 

@conference{
author = "Dimić, Zoran and Pavlović, Dragan and Živanović, Saša and Furtula, Mladen and Đurković, Marija",
year = "2022",
abstract = "U radu je predstavljen sistem upravljanja otvorene arhitekture koji je implementiran na troosnoj glodalici za obradu drveta koja može raditi i u vertikalnoj i u horizontalnoj konfiguraciji, kao i upravljanje preko digitalnog dvojnika. Razvoj sistema upravljanja putem digitalnog dvojnika motivisan je istraživačkim i edukacionim zahtevima. Razmatrani CNC sistem za obradu drveta je podržan od ekvivalentne virtuelne mašine u sistemu upravljanja kao digitalni dvojnik. Konfigurisana virtuelna mašina se koristi za simulaciju obrade i verifikaciju sistema upravljanja. Prikazan je jedan test predmet koji je obrađen u vertikalnoj i horizontalnoj konfiguraciji da bi se potvrdila efikasnost razvijenih sistema upravljanja koji su zasnovani na LinuxCNC-u.",
publisher = "Univerzitet u Beogradu, Mašinski fakultet",
journal = "43. JUPITER konferencija, 39. simpozijum NU-Roboti-FTS : Zbornik radova",
title = "Dinamički rekonfigurabilni upravljački sistem sa promenljivim tokom izvršavanja kinematičkog algoritma, Dynamic reconfigurable control system with variable flow of execution of kinematic algorithm",
pages = "3.117-3.112",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4636"
}

Dimić, Z., Pavlović, D., Živanović, S., Furtula, M.,& Đurković, M.. (2022). Dinamički rekonfigurabilni upravljački sistem sa promenljivim tokom izvršavanja kinematičkog algoritma. in 43. JUPITER konferencija, 39. simpozijum NU-Roboti-FTS : Zbornik radova
Univerzitet u Beogradu, Mašinski fakultet., 3.112-3.117.
https://hdl.handle.net/21.15107/rcub_machinery_4636

Dimić Z, Pavlović D, Živanović S, Furtula M, Đurković M. Dinamički rekonfigurabilni upravljački sistem sa promenljivim tokom izvršavanja kinematičkog algoritma. in 43. JUPITER konferencija, 39. simpozijum NU-Roboti-FTS : Zbornik radova. 2022;:3.112-3.117.
https://hdl.handle.net/21.15107/rcub_machinery_4636 .

Dimić, Zoran, Pavlović, Dragan, Živanović, Saša, Furtula, Mladen, Đurković, Marija, "Dinamički rekonfigurabilni upravljački sistem sa promenljivim tokom izvršavanja kinematičkog algoritma" in 43. JUPITER konferencija, 39. simpozijum NU-Roboti-FTS : Zbornik radova (2022):3.112-3.117,
https://hdl.handle.net/21.15107/rcub_machinery_4636 .

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

TY  - 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  - JOUR
AU  - Kvrgić, Vladimir
AU  - Ribić, Aleksandar, I
AU  - Dimić, Zoran
AU  - Živanović, Saša
AU  - Dodevska, Zorica A.
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3722
AB  - The indirect identification of the geometric errors (GEs) in the rotary axis of a machine tool yields six equivalent GEs (EGEs) that are position-dependent; through an analytical proof, this study demonstrates that these errors also represent four position-independent GEs of the axis. Moreover, a novel algorithm using ball bar measurements to calculate the EGEs of a nutating rotary B-axis and a rotary C-axis is presented herein. This paper also presents a new analytical solution for the actual inverse kinematics of a nonorthogonal five-axis machine tool; this solution is used for GE compensation. The presented algorithms are implemented in a self-developed software that alters the nominal numerical control code in order to eliminate GEs. The compensation accuracy and efficiency are tested using a simulation system. The results demonstrate that the proposed compensation algorithm eliminates all identified GEs. Lastly, a cutting test executed on a machine confirms that the proposed algorithms considerably improve machining accuracy.
PB  - Elsevier, Amsterdam
T2  - CIRP Journal of Manufacturing Science and Technology
T1  - Equivalent geometric errors of rotary axes and novel algorithm for geometric errors compensation in a nonorthogonal five-axis machine tool
EP  - 488
SP  - 477
VL  - 37
DO  - 10.1016/j.cirpj.2022.03.001
ER  - 

@article{
author = "Kvrgić, Vladimir and Ribić, Aleksandar, I and Dimić, Zoran and Živanović, Saša and Dodevska, Zorica A.",
year = "2022",
abstract = "The indirect identification of the geometric errors (GEs) in the rotary axis of a machine tool yields six equivalent GEs (EGEs) that are position-dependent; through an analytical proof, this study demonstrates that these errors also represent four position-independent GEs of the axis. Moreover, a novel algorithm using ball bar measurements to calculate the EGEs of a nutating rotary B-axis and a rotary C-axis is presented herein. This paper also presents a new analytical solution for the actual inverse kinematics of a nonorthogonal five-axis machine tool; this solution is used for GE compensation. The presented algorithms are implemented in a self-developed software that alters the nominal numerical control code in order to eliminate GEs. The compensation accuracy and efficiency are tested using a simulation system. The results demonstrate that the proposed compensation algorithm eliminates all identified GEs. Lastly, a cutting test executed on a machine confirms that the proposed algorithms considerably improve machining accuracy.",
publisher = "Elsevier, Amsterdam",
journal = "CIRP Journal of Manufacturing Science and Technology",
title = "Equivalent geometric errors of rotary axes and novel algorithm for geometric errors compensation in a nonorthogonal five-axis machine tool",
pages = "488-477",
volume = "37",
doi = "10.1016/j.cirpj.2022.03.001"
}

Kvrgić, V., Ribić, A. I., Dimić, Z., Živanović, S.,& Dodevska, Z. A.. (2022). Equivalent geometric errors of rotary axes and novel algorithm for geometric errors compensation in a nonorthogonal five-axis machine tool. in CIRP Journal of Manufacturing Science and Technology
Elsevier, Amsterdam., 37, 477-488.
https://doi.org/10.1016/j.cirpj.2022.03.001

Kvrgić V, Ribić AI, Dimić Z, Živanović S, Dodevska ZA. Equivalent geometric errors of rotary axes and novel algorithm for geometric errors compensation in a nonorthogonal five-axis machine tool. in CIRP Journal of Manufacturing Science and Technology. 2022;37:477-488.
doi:10.1016/j.cirpj.2022.03.001 .

Kvrgić, Vladimir, Ribić, Aleksandar, I, Dimić, Zoran, Živanović, Saša, Dodevska, Zorica A., "Equivalent geometric errors of rotary axes and novel algorithm for geometric errors compensation in a nonorthogonal five-axis machine tool" in CIRP Journal of Manufacturing Science and Technology, 37 (2022):477-488,
https://doi.org/10.1016/j.cirpj.2022.03.001 . .