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Kinematičko modeliranje hibridne paralelno-serijske petoosne mašine alatke
Kinematic modeling of hybrid parallel serial five-axis machine tool
dc.creator | Milutinović, Milan | |
dc.creator | Slavković, Nikola | |
dc.creator | Milutinović, Dragan | |
dc.date.accessioned | 2022-09-19T17:16:28Z | |
dc.date.available | 2022-09-19T17:16:28Z | |
dc.date.issued | 2013 | |
dc.identifier.issn | 1451-2092 | |
dc.identifier.uri | https://machinery.mas.bg.ac.rs/handle/123456789/1776 | |
dc.description.abstract | Paralelne strukture mašina alatki i robota u odnosu na serijske strukture imaju niz prednosti. Za gradnju paralelnih mašina alatki i robota danas se koristi veći broj mehanizama sa paralelnom kinematikom različitih topologija sa 3 do 6 stepeni slobode. Međutim, s obzirom na izvesna ograničenja paralelnih mehanizama intenzivirana su istraživanja na iznalaženju mehanizama hibridnih arhitektura kao kombinacija paralelnih i serijskih struktura. U radu su predstavljeni rezultati kinematičkog modeliranja hibridne paralelno-serijske petoosne mašine alatke na bazi Tricept mehanizma. Kako ovakva mašina uključuje paralelnu strukturu sa tri stepena slobode i serijsku strukturu sa dva stepena slobode, to rešenja problema inverzne i direktne kinematike takođe uključuju paralelni i serijski deo. Inverzni kinematički problem je rešen analitički dok rešenje direktnog kinematičkog problema sadrži analitički i numerički deo. Na osnovu rešenja inverznog kinematičkog problema analiziran je radni prostor u cilju izbora projektnih parametara prototipa. | sr |
dc.description.abstract | Compared with serial structured machine tools and robots, parallel kinematic machine tools and robots have many advantages. Many different topologies of parallel mechanisms with 3-6 DOF have been used. Considering that some limitations are indeed due to the use of parallel mechanisms, it is appealing to investigate architectures based on hybrid arrangements where serial and parallel concepts are combined. This paper is aimed at presenting a study on the kinematic modeling of the Tricept based five-axis vertical machine tool. Since the machine comprises 3-DOF parallel structure and 2-DOF serial wrist direct and inverse kinematics also comprise serial and parallel part. Inverse kinematics is solved analytically while direct kinematics consists of an analytical and numerical part. Based on machine inverse kinematics, the workspace has been analyzed in order to select machine prototype design parameters. | en |
dc.publisher | Univerzitet u Beogradu - Mašinski fakultet, Beograd | |
dc.rights | openAccess | |
dc.rights.uri | https://creativecommons.org/licenses/by/4.0/ | |
dc.source | FME Transactions | |
dc.subject | machine tool | en |
dc.subject | kinematic modeling | en |
dc.subject | hybrid mechanism | en |
dc.title | Kinematičko modeliranje hibridne paralelno-serijske petoosne mašine alatke | sr |
dc.title | Kinematic modeling of hybrid parallel serial five-axis machine tool | en |
dc.type | article | |
dc.rights.license | BY | |
dc.citation.epage | 10 | |
dc.citation.issue | 1 | |
dc.citation.other | 41(1): 1-10 | |
dc.citation.rank | M24 | |
dc.citation.spage | 1 | |
dc.citation.volume | 41 | |
dc.identifier.fulltext | http://machinery.mas.bg.ac.rs/bitstream/id/602/1773.pdf | |
dc.identifier.rcub | https://hdl.handle.net/21.15107/rcub_machinery_1776 | |
dc.identifier.scopus | 2-s2.0-84877024941 | |
dc.type.version | publishedVersion |