Sasa Zivanovic

University of Belgrade · Faculty of Mechanical Engineering

Machine tools with a hybrid kinematic structure represent an unconventional type of machine tools whose characteristics depend on the kinematic configuration. Therefore, it is necessary to perform a separate accuracy analysis for each machine configuration. The analysis of the characteristic values obtained by examining the accuracy of positioning...

In this paper, the methodology for verifying inverse kinematic equations is presented. Analysis of the kinematic structure of the machine is shown, which results in the kinematic equations needed for the configuration of the machine's postprocessor. The machine proposed in this paper is a five-axis machine tool with two rotating axes on the spindle...

This paper presents workspace and kinematic analysis of a parallel kinematic machine based on the Lambda mechanism. The considered parallel kinematic machine has six degrees of freedom (DOF), achievable with six actuated translation joints. The kinematic analysis includes the definition of every active part of the machine, as well as the definition...

The paper presents the programming and program verification using machine simulation of additive manufacturing tool path in CAD/CAM and Vericut environment. A procedure for configuring and preparing of a virtual machine for several additive process simulations has been proposed. The paper analyzes the available programming software for generating G...

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 th...

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 calcu...

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 wil...

This paper describes the conversion of a virtual machine from different CAD/CAD environments and its configuring in the desired environment, which often arises as a need when you want to simulate the operation of a specific machine. In this case, two CAD/CAM environments are considered, namely Cimatron and Creo. The possibility of transfer the desi...

The paper presents the technology of making brazed shaper milling cutters and with special reference to 5-axis grinding process (making of profile blades) on CNC grinding machine tool. Based on the analysis of the kinematics of the 5-axis grinding process, a new concept of profile milling tool production by a 3+2 axis grinding process on horizontal...

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...

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 operati...

The paper presents the programming and program verification on a 3-axis hybrid kinematics CNC machine for rapid prototyping using subtractive and additive processes. The original hybrid (parallel-serial) 3-axis OX glide mechanism developed to build a rapid prototyping machine and multifunctional machine tools is presented. The paper analyzes the av...

This paper presents a method for the application of STEP-NC protocol for milling on machine tools that have Fanuc, Siemens, or LinuxCNC control systems. The programming method used ISO 10303-238 (AP-238) standard for programming CNC machine tools. Application and validation of an indirect programming method according to STEP-NC protocol are perform...

Machine tools with a parallel–serial (hybrid) kinematics structures represent a compromise solution that combines the advantages of traditional serial and parallel kinematic in the building of machine tools. By selecting a planar parallel mechanism with optimally designed components, the supporting structure of the machine tool is obtained with imp...

The paper shows the configuration of a new educational machine based on hybrid kinematics mechanism. The concept of a three-axis O-X hybrid mechanism is described, consisting of a single serial translational axis and a two-axis parallel mechanism that can operate in two variants, with extended form O and crossed form X-joints of the parallel mechan...

The paper presents the programming and program verification on 3-axis hybrid kinematics CNC machine for rapid prototyping. The original hybrid (parallel-serial) 3-axis OX glide mechanism developed for the purpose of building rapid prototyping machine and multifunctional machine tools is presented. The paper analyzes the available programming softwa...

The paper presents the developed control system with open architecture for the BiSCARA robot, based on the robot kinematic model. The control system is realized in the LinuxCNC software environment and includes the virtual robot model configured using several predefined Python classes and OpenGL. Presented methodology for configuring virtual robots...

The paper presents digital measurement twin (DMT) for CMM based on STEP-NC. DMT is acting as a mirror between the physical and virtual measuring world. In this paper, the measurement system with a 3-axis CMM ZEISS UMM 500 was used as a physical twin, and a virtual machine, generated after modelling and configuring in PTC Creo software of both the m...

This paper describes configuring the virtual horizontal machining center LOLA HBG80 within the programming and verification system and the open architecture control system. The horizontal machining center LOLA HBG 80 is represented by an equivalent virtual machine in a CAD/CAM environment (PTC Creo and Catia), STEP-NC Machine environment, and the c...

U radu je prikazanokonfigurisanje virtuelnog prototipa BiSCARA robota generisanog na osnovu kompletno razvijenog kinematičkog modela robota. Ovako razvijeni virtuelni CAD model će omogućiti njegovu implementaciju u Python grafičko okruženje kao integralnog dela sistema upravljanja otvorene arhitekture razvijenog na osnovu prikazanog kinematičkog mo...

This paper presents an application of an open architecture control system implemented on a multi-axis wood computer numerical control milling machining center, as a digital twin control. The development of the digital twin control system was motivated by research and educational requirements, especially in the field of configuring a new control sys...

This paper describes the configuration of a 3-axis vertical CNC machine tool for rapid prototyping with one rotary and two translational axes. The machine works in a polar-cylindrical coordinate system. The structure of the machine is C'OXZ. The virtual machine model is configured in the PTC Creo software environment. After configuring the virtual...

The specific needs of customers set requirements like flexibility and custom-made products, as well as quick placement of products on the markets. Mass customization responds to these requirements and imposes new demands inside manufacturing systems such as optimization and virtualization of machining and measurement processes. A contribution in th...

Additive manufacturing (AM) is established as a new class for fabricating 3D physical prototypes layer by layer. Given that a large number of different 3D printers (AM machines) are present now (as a product of renowned manufacturers or custom-made products), the design of a benchmark artifact for evaluation of the AM processes is very important. T...

The paper analyzes complex multi-axis reconfigurable machine, which meets all the requirements to perform the wire cutting process. The complex multi-axis machine consists of two parallel 2-axis mechanisms that are connected by wire. The resulting mechanism has four degrees of freedom and allows the translatory movement of the wire(tool) along two...

Nowadays, industrial robots could be a successful alternative to machine tools for milling of large parts with complex geometry. As it is known, poor accuracy which is most influenced by the stiffness of robot structure is recognized as a limiting factor for successful use of robots in milling tasks. Since there are different sources of error in ro...

This paper describes methodology for application of a rapid prototyping using subtractive, additive and formative technology based on STL files. Rapid prototyping technology includes using of a digital information chain CAD/CAM/CNC to a level which allows the successful realization of the physical models based on new technologies by adding, subtrac...

U radu je pokazano konfigurisanje sistema za programiranje i upravljanje jedne realizovane koncepcije troosne mini CNC mašine alatke čije je upravljanje zasnovano na Raspberry Pi platformi koristeći Machinekit upravljački softver. Za potrebe verifikacije sistema programiranja konfigurisana je i virtuelna mini CNC mašina alatka, u sistemu za program...

The paper shows the development of a 3-axis CNC machine tool for rapid prototyping by subtracting materials, with two translational and one rotating axis, whose control is based on the LinuxCNC system, with an integrated virtual machine as a digital twin. The concepts of machines with one rotary axis were analyzed and the concept of a machine for r...

This paper presents a method for applying the ISO 10303-238 (AP-238) standard in robotic machining operations by using two industrial robots. The method encompasses programming, simulation and machining by industrial robots. Application and validation of robotized machining is performed using two industrial robots, and the following tools are used:...

The paper describes the configuring and analysis of a class of generalized reconfigurable 2-axis parallel kinematic machine (R2PKM). A generalized model which is used for solving inverse and direct kinematic problem is presented. Generalized equations that present the solutions of kinematic problems are derived and they are valid for any configurat...

The aim of this paper is to spread the use of Rapid Prototyping technology (RP)-Additive Manufacturing (AM), into design, restauration and making Art sculptural shapes according to the sample. Rapid prototyping is being used since its origin in designers' fields for a product design, and here it is presented in art design according to the sample, a...

In this paper, a mini CNC machine tool with three translational axis and open-architecture control system is being considered. Existing CAD/CAM software environment was used in order to create adequate corresponding virtual machine and to enable CNC program development and testing for the specific platform. Prototype of the machine was made utilizi...

This paper presents a CAI verification of the measuring path for inspection of prismatic measuring parts (PMP) which consists of the basic geometric features. The aim of the verification is to visualize collision check between the measuring sensor and the workpiece. The simulation of the measuring path was realized on the configured virtual CMM in...

The paper presents one of the concepts of a reconfigurable desktop 5-axis machine that is operated using the PC Linux CNC system EMC2. For realization of control system, the necessaryis included kinematic model , which is embedded in the EMC2 control system. The paper presents configuring of the virtual machine tool that is first integrated with th...

Primary goals of trends of digitalization in the Industry are increasing of efficiency, productivity and quality of product. As a basic unit of modern manufacturing industry, numerical controlled machine tools have important role in industrial digitalization. Their improvement trough implementation of digitally connected components and subsystems e...

STEP-NC is the next generation of data models between CAD/CAM and CNC systems and it aims at providing a digital thread for CNC manufacturing. After more than a decade of investigation, the STEP-NC technology is still underdeveloped. As the industrial robots are getting more and more capable of taking on machining operations, it is necessary to cou...

The paper presents research and development results of control and programming system of parallel kinematic machine (PKM). The control system is based on G-code and two separate units: a real-time control system and an off-line system for G-code writing and editing, checking programme syntax and semantics and discovering and avoiding singular posit...

The paper considers the possibility of applying a new programming method according to the STEP-NC standard for turning operations. The programming method in this paper is based on the STEP-NC standard ISO 10303 AP238. In order to verify the programming method, a virtual CNC lathe is configured that can interpret STEP-NC programs. Virtual lathe is i...

U radu su pokazane koncepcije rekonfigurabilne dvoosne mašine sa paralelnom kinematikom koja se upravlja CNC sistemom otvorene arhitekture na bazi EMC2 softvera. Ovde je pokazana metodologija za konfigurisanje virtuelne mašine alatke koja se integriše sa upravljačkim sistemom i koja je takođe rekonfigurabilna. Verifikacija metodologije je ostvarena...

With the rapid advancement of internet technologies (IT) and computer numerical control (CNC) technologies, the production environment has significantly changed in the last two decades. The International Organization for Standardization (ISO) standard 6983 (Gcode), which is still being used as a link between computer aided design/computer aided pro...

In the era of advanced, intelligent, and flexible manufacturing, machining with industrial robots, it is expected to be set up in the next few years. This is due to the vast progress of these robots in terms of precision and stiffness. Moreover, there is a recent development of off-line programming. Consequently, industrial robots offer a real gain...

This paper presents an approach for applying new machining standard ISO 10303-238 in machining operations by using industrial robots. The methodology developed according to this standard is proposed for executing programming, simulation and machining by industrial robots. A detailed description is given of a developed RoboSTEP-NC module which, bein...

Industrial robots are a proper alternative to 5-axis machine tools for multi-axis milling of parts from softer materials and lower tolerances. For these reasons, researchers develop software solutions to bring programming of machining robots closer to programming of machine tools. The paper presents the results of kinematic modeling of vertical art...

This paper presents an approach for applying new programming method based on STEP-NC standard in machining operations by using different CNC machine tools and robots for machining. The paper discusses about programming and simulation using configured virtual machines or robots for machining and software STEP-NC Machine. Programming verification has...

Modeling of the human body has advanced in recent years with the rapid development of computer technology and the needs of the real digital and physical models. This paper describes an example of a rapid development of a model of a human head, on the basis of STL-format, which includes a digital information chain CAD / CAM / CNC, to a level which a...

Development of modern machine tools basically is directed on improvement of kinematic structures and exploitation characteristics. As a result of this in last two decades industry more and more uses machine tools based on parallel and hybrid kinematics with significant increasing of speed of main and movement and feederate. In order to provide more...

This paper presents configuring of a virtual reconfigurable 5-axis machine tool for the purpose of realizing the simulation of the machine according to the running program. Machining simulation is realized in the CAD/CAM environment, when the machine works according to the CL files based running program, and in the STEP-NC Machine environment, when...

Modelling and analysis of a 3-axis reconfigurable hybrid kinematic mechanism is shown in this paper. Generalized model for solving the inverse and direct kinematic problem is presented. Generalized equations show the solution of kinematic problems of hybrid mechanism applied for any configuration of reconfigurable machine. 3-axis hybrid mechanism c...

A new programmnig method of CNC Machine tools, which is developing as an alternative to G code, is AP238 protocol or STEP-NC, according to ISO 10303 standard. In this paper, a comparation between classical (G code) and new way of programming (STEP-NC ) is given. A structure of ecquipment needed for new programming metod, program structure and curre...

Abstract: This paper presents configuring of a virtual reconfigurable 5-axis machine tool for the purpose of realizing the simulation of the machine according to the running program. Machining simulation is realized in the CAD/CAM environment, when the machine works according to the running program based on CL files, and in the STEP-NC Machine envi...

Robotic machining systems play an important role in modern manufacturing. The paper proposes the application of virtual robots for off-line programming. The reconfigurable machining robot, programmed in G-code, which can be directly used by CNC machine tool programmers and operators, is presented. The subject of study are 5- and 6-DOF vertical arti...

This paper presents the possibilities of applying a new method of programming based on STEP-NC standards, which was developed as an alternative to the G code. The possibilities of application in the field of machining simulation and verification of the program before machining on the wire electrical discharge machine are discussed. The paper shows...

This paper presents modeling and analysis of a 2-axis reconfigurable parallel mechanism. In this paper, generalized model for solving of inverse and direct kinematic problems is presented. Generalized equations that represent the solution of the kinematic problems of parallel kinematic mechanism applicable to any configuration of 2-axis reconfigura...

The application of computer technologies based on enhanced geometric interpretation of the product in terms of virtual prototype is considered as the basis for product development in the XXI century. This enables integrated development of products that includes the conception, design, optimization, production planning and the manufacture of machine...

The paper describes possibility of implementation the STEP-NC in process planning for CNC machining, and integration of CAx and CNC systems. Proposed are two variants of possible applying, with verification on example. As software for the realization of CAD/CAM activities were used Pro/E and Catia, while for generate STEP-NC programs and management...

This paper presents a brief overview of the developed procedure for off-line optimization of CNC program. The procedure refers to milling operations in plane z=const, using flat end mills. The goal of optimization is to create modified version of part program, using feedrate scheduling, in order to keep desired milling force component on predefined...

In this paper we discuss the possibilities of application of turning machine simulation and verification of the program before machining. We present the process of new virtual lathes configuring for machine simulation in CAD/CAM environment. Configured virtual lathe is used for the verification of tool path as a part of the off-line programming sys...

This paper presents a methodology for establishing off-line programming system with toolpath verification and simulation including visualization of the machining process, fixture orientation and machine movements. This methodology is described using IDEF0 diagrams and is elaborated by using PTC Creo CAD/CAM system. This paper describes modeled deta...

This paper discusses the possibilities of application machine simulation and verification of the program before machining. Process of virtual machine configuring for machine simulation in CAD/CAM and VeriCUT environment is shown. Configured virtual prototypes are used for the verification of tool path as part of the offline programming system, usin...

Configuring new machine tools is a complex task that involves the use of a large range of conceptions, methods, models, virtual prototypes and simulations. This paper presents a methodology for configuring a new machine tool to the level of a virtual prototype by using CAD configurator Pro/WEB.Link and a top-down approach. This methodology is expla...

This paper presents a desktop reconfigurable machine tool with hybrid kinematics for four types of machine tools, with a description of the applied mechanism and established modular system for their configuring. The postprocessor for five-axis machining presented in this paper is applied to the kinematic structures with table-tilting with two rotat...

This paper describes testing and programming methods for parallel kinematic machine based on mini laboratory and desktop 3-axis parallel kinematic milling machine (PKMM). The paper presents the IDEF0 methodology for developmentally testing of new machine tools, with an example of application of this methodology. Several test workpieces are machined...

This paper presents programming methods for parallel kinematics machine based on mini laboratory and desktop 3-axis parallel kinematic milling machine (PKMM). In this paper, a comparison between classical (G code) and new way of programming (STEP-NC) is given. Several test workpieces are machined in order to verify the programming system. The aim o...

This paper describes methodology for the implementation of scenarios for applying protocol STEP-NC for programming CNC machine tools. Capabilities of the current implementation of the new programming method based on STEP-NC for the available machines, is shown, using software STEP-NC Machine and CAD/CAM system Creo. For a description of the methodo...

This paper presents the development of mini laboratory and educational desktop 3 axis milling machine with parallel kinematic. Functional requirements and concept of this machine were adopted. Description of the applied parallel mechanism is shown in this paper. The presented methodology was used to configure mini laboratory and educational desktop...

This paper presents the possibilities of application of a new method of programming based on STEP-NC standard, which was developed as an alternative to the G code. This paper discusses the possibilities of application in the field of simulation and verification of the program before machining and machining on the available machines. The paper shows...

The application of industrial robots for machining is currently limited to tasks with low precision demands due to the low stiffness of industrial robots as compared to machine tools. This paper analytically describes an experiment-based compliance identification and analysis method for a 5-axis vertical articulated machining robot. An expansion of...

This paper gives an application of virtual robots which are used for offline programming and students’ education. Virtual robot is configured in Python program environment and it is integrated with Axis GUI of the control system EMC2 which operates on Linux platform. This paper consideres aspects of application in offline programming and education.

This paper describes analytically and experimentally based compliance modeling and identification of 5-axis vertical articulated machining robot. The conventional method for the calculation of Cartesian space compliance based on joint compliances and Jacobian matrix is expanded and used for experimental 5-axis machining robot. Analytical analysis w...

Industrial robots represent a promising cost-effective and flexible alternative for some machining applications. This paper describes the concept of reconfigurable robot multi-axis machining systems for machining the complex parts of light materials with lower tolerances having freeform surfaces. For the basic configuration of a five-axis robotic m...

Parallel kinematic machines (PKM) are still a research-and-development topic in many laboratories although many of them, unfortunately, have no PKM at all. Therefore, the use of a desktop educational 3-axis parallel kinematic milling machine is suggested as a help in the process of acquiring basic experiences in the field of PKM. The developed desk...

Configuring machine tools is a complex task which involves the use of huge spectra of conceptions, methods, models, calculations, technologies, simulations, control, programming, techno-economy. The paper presents the IDEF methodology for functional configuring of new machine tools, with an example of this methodology application for desktop 3-axis...