Sasa Zivanovic

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Slobodan Tabakovic

Matko Makovec

Tibor Šimunčić

Technical University in Rijeka

Dragan Milutinovic

Stevan Kiš

University of Novi Sad, Faculty of Technical Sciences

Jelena Nakić

Zoran Đ Miljković

University of Belgrade

Nemanja Milovanović

Teo Kolmanić

Karlo Šebalj

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Papers by Sasa Zivanovic

Programming and program verification for robots that perform machining tasks

Tehnika

The paper presents the programming and program verification of industrial robots that perform mac... more

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Converting of virtual machine from different CAD/CAD environments and its configuring in desired environment

Tehnika, 2022

This paper describes the conversion of a virtual machine from different CAD/CAD environments and ... more 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 desired virtual machine from Cimatron CAD/CAM system and its converting to PTC Creo is considered, with an example of identical simulation in both environments. The transferred files of virtual machine are configured in the PTC Creo and STEP-NC Machine software environments. After configuring the virtual machine, the machine simulation was performed in the mentioned software environments.

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Modelling and Analysis of 3-Axis Reconfigurable Hybrid Kinematics Mechanism with Translatory Actuated Joints

Lecture Notes in Mechanical Engineering, 2017

Modelling and analysis of a 3-axis reconfigurable hybrid kinematic mechanism is shown in this pap... more Modelling and analysis of a 3-axis reconfigurable hybrid kinematic mechanism is shown in this paper. Generalized model for solving the inverse and direct kinematic problem is presented. Generalized equations show the solution of kinematic problems of hybrid mechanism applied for any configuration of reconfigurable machine. 3-axis hybrid mechanism consists of a 2-axis parallel mechanism and added serial translatory axis. Chosen characteristic mechanism configurations are shown as the realization examples. Workspace is determined for chosen configurations and possible singular mechanism positions are analysed.

Virtual horizontal machining center LOLA HBG 80 for program verification and monitoring

FME Transactions, 2021

This paper describes configuring the virtual horizontal machining center LOLA HBG80 within the pr... more This paper describes configuring the virtual horizontal machining center LOLA HBG80 within the programming and verification system and the open architecture control system. The horizontal machining center LOLA HBG 80 is represented by an equivalent virtual machine in a CAD/CAM environment (PTC Creo and Catia), STEP-NC Machine environment, and the control system. Virtual simulation is essential for machining, and the developed virtual machines are used for program verification and monitoring of the machining process. The virtual machine in the programming system allows the verification of the program before sending it to the real machine and includes verification of the tool path (CLF-Cutter Location File) and G-code. The paper also discusses the possibility of applying a new programming method known as STEP-NC and preparing an adequate environment that includes a virtual machine. The virtual machine in the control system represents the last level for the final program verification a...

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Digital twin control of multi-axis wood CNC machining center based on LinuxCNC

BioResources, 2020

This paper presents an application of an open architecture control system implemented on a multi-... more 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 system by “virtual commissioning”, enabling the validation of the developed controls, program verification, and analysis of the machining process and monitoring. The considered wood computer numerical control (CNC) machining system is supported by an equivalent virtual machine in a computer-aided design and computer-aided manufacturing (CAD/CAM) environment, as well as in the control system, as a digital twin. The configured virtual machines are used for the verification of the machining program and programming system via machining simulation, which is extremely important in multi-axis machining. Several test wood workpieces were machined to ...

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An overview of rapid prototyping technologies using subtractive, additive and formative processes

FME Transactions, 2020

This study was carried out to investigate the antibacterial activity against pathogens of acne an... more This study was carried out to investigate the antibacterial activity against pathogens of acne and the antiinflammatory effect of 75% ethanol extract and its fractions from the leaves of Prunus sargentii. In the antibacterial activity by the disc diffusion assay, the extract showed the highest effect against Propionibacterium acnes, Staphylococcus aureus and Staphylococcus epidermidis in 5 ㎎/disc. However, the ethyl acetate fraction showed the highest antibacterial activity in 1 ㎎/ disc. On the other hand, the hexane and chloroform fraction showed strong nitric oxide (NO) production inhibitory effect in lipopolysaccharide (LPS)-stimulated Raw 264.7 cell. In the cell viability of Raw 264.7 by MTT assay, the extract and all fractions were exhibited normal viabilities as nontoxic result. Consequently, the extract from the leaves of P. sargentii and its ethyl acetate fraction could be applicable to functional materials for antibacterial activity related fields. Moreover, the hexane and chloroform fraction could be applicable to candidate materials as anti-inflammatory agent.

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An additive manufacturing benchmark artifact and deviation measurement method

Journal of Mechanical Science and Technology, 2020

Additive manufacturing (AM) is established as a new class for fabricating 3D physical prototypes ... more Additive manufacturing (AM) is established as a new class for fabricating 3D physical prototypes layer by layer. Given that a large number of different 3D printers (AM machines) are present now (as a product of renowned manufacturers or custom-made products), the design of a benchmark artifact for evaluation of the AM processes is very important. This implies quality evaluation of the capabilities and limitations of each AM process and also the geometrical testing of the 3D printers. The paper proposes a benchmark artifact, according to the criteria for modeling of the benchmark artifact, with a large number of basic features for its geometrical evaluation. Although there are a large number of commercial software packages, this paper also proposes a low-cost developed measurement method of geometrical deviation that could be also adjustable for requirements in an easy way. Verification of the proposed deviation measurement method has been done by several experiments. The experiments include fabrication of the proposed benchmark artifact on available 3D printers by an FFF (fused filament fabrication) process also known as FDM (fused deposition modeling), and after that its scanning. Verification is done by comparing quality evaluation of each fabricated part by developed method and commercial software.

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Simulation of compensated tool path through virtual robot machining model

Journal of the Brazilian Society of Mechanical Sciences and Engineering, 2020

Nowadays, industrial robots could be a successful alternative to machine tools for milling of lar... more 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 robots, virtual manufacturing systems provide a useful means for products to be manufactured without the need of physical testing on the shop floor. This paper presents the developed virtual robot machining model, as a part of digital twin, for the simulation of a modified tool path generated by the compensation algorithm for the errors induced by cutting forces due to robot compliance. This part of digital twin includes the robot kinematic model, the Cartesian space robot compliance model, the model of cutting forces and the developed program based on off-line compensation algorithm. Development of such virtual robot machining model is important for the validation of modified tool path before the machining on a real robot. The developed virtual robot machining model is verified via several experiments, where the simulated surfaces are compared with the real machined surfaces generated by tool movement through a modified, i.e., corrected, trajectory on an available industrial robot programmed in G-code.

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Configuring the programming and control systems for a mini 3-axis CNC machine tool on the Raspberry PI platform

Tehnika, 2019

U radu je pokazano konfigurisanje sistema za programiranje i upravljanje jedne realizovane koncep... more 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 programiranje, u različitim pogodnim okruženjima. Verifikacija programiranja je ostvarena na konfigurisanoj virtuelnoj mašini koja radi na osnovu zadatog programa i iscrtava programiranu putanju alata. U radu je predstavljeno konfigurisanje i implementacija upravljanja na Raspberry Pi platformi za mini CNC mašinu alatku, čija je verifikacija realizovana probnim radom mini CNC mašine alatke.

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Configuring the programming and control systems for a mini 3-axis CNC machine tool on the Raspberry PI platform

Tehnika, 2019

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The possibilities for application of STEP-NC in actual production conditions

Journal of Mechanical Science and Technology, 2018

With the rapid advancement of internet technologies (IT) and computer numerical control (CNC) tec... more 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 process planning/computer aided manufacturing (CAD/CAPP/CAM) and CNC system, represents an obstacle for the full integration of design and manufacturing. The result of efforts to eliminate these obstacles and shortcomings of developed standards for data exchange and sharing is the development of (STEP-ISO 10303) standard, as well as its extension to numerical control STEP-NC. This paper shows the current possibility of implementing STEP-NC in integration of computer aided technologies CAx and CNC systems in actual production conditions. Two scenarios represent a new approach to programming CNC machine tools using the STEP-NC protocol, which is explained in detail with IDEF0 diagrams, with defining necessary equipment and software. Implementation of the STEP-NC protocol described by the integration definition for function modeling (IDEF0) methodology was experimentally verified on specific examples for both scenarios, with the application of available CAD/CAM systems and the STEP-NC machine software, as well as appropriate virtual and physical CNC machine tools.

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A Virtual 5-axis machine tool integrated with the programming and control system

Tehnika, 2019

U radu je pokazana jedna od koncepcija rekonfigurabilne stone petoosne mašine koja se upravlja ko... more U radu je pokazana jedna od koncepcija rekonfigurabilne stone petoosne mašine koja se upravlja koristeći PC Linux CNC sistem EMC2. Za potrebe realizacije upravljanja pokazan je i potreban kinematički model koji se ugrađuje u sistem upravljanja EMC2. U radu je predstavljeno konfigurisanje virtuelne mašine alatke koja se prvo integriše sa sistemom za programiranje, a zatim i sa sistemom za upravljanje. Verifikacija upravljanja i programiranja je ostvarena konfigurisanom virtuelnom mašinom koja radi na osnovu zadatog programa i iscrtava programiranu putanju alata.

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Configuring of a virtual refonfigurable 2-axis paralel kinematic machine integrated with the open arhitecture CNC system based on EMC2 software

Tehnika, 2018

U radu su pokazane koncepcije rekonfigurabilne dvoosne mašine sa paralelnom kinematikom koja se u... more U radu su pokazane koncepcije rekonfigurabilne dvoosne mašine sa paralelnom kinematikom koja se upravlja CNC sistemom otvorene arhitekture na bazi EMC2 softvera. Ovde je pokazana metodologija za konfigurisanje virtuelne mašine alatke koja se integriše sa upravljačkim sistemom i koja je takođe rekonfigurabilna. Verifikacija metodologije je ostvarena iscrtavanjem programirane test konture, na različitim tipovima i podvarijantama mašine, na konfigurisanim virtuelnim i stvarnim mašinama.

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An indirect method of industrial robot programming for machining tasks based on STEP-NC

International Journal of Computer Integrated Manufacturing, 2018

STEP-NC is the next generation of data models between CAD/CAM and CNC systems and it aims at prov... more 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 couple the robot for machining towards new STEP-NC standards. The paper presents an indirect method of industrial robot programming for machining tasks by applying standard ISO 10303-238. A methodology has been established to enable programming and simulation of industrial robots for machining, where information on the machining project is saved at a high information level in the STEP-NC format, which can be readily exchanged between different users for machining, either on machine tools or robots for machining. The methodology also includes the developed robot language converter for STEP-NC programme translation to robot programming language for machining tasks. Developed programming method verification has been performed by simulation in STEP-NC Machine environment using configured virtual robot and after that through several real experiments of drawing the toolpath in 3-axis machining tasks on available vertical articulated robot.

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Off-line programming and simulation for 2-axis wire EDM

FME Transaction, 2015

This paper presents a methodology for establishing off-line programming system with toolpath veri... more 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 detailed virtual prototype of WEDM machine Ewis, with all kinematic relationships between moving components being defined, with the aim to include virtual machine model in machine simulation. Off-line programming allows immediate execution on the machine of multiple verification programs after verification. Therefore, the off-line programming is verified using the real example and its program verification and execution.

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Methodology for implementation scenarios for applying protocol STEP-NC

This paper describes methodology for the implementation of scenarios for applying protocol STEP-N... more 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 methodology for application protocols STEP-NC were used IDEF0 diagrams. The methodology is verified in two scenarios who are shown (SC1 and SC2). The application of STEP-NC protocols is described by IDEF0 methodology experimentally verified using two examples.

Methodology for configuring desktop 3-axis parallel kinematic machine

FME Transactions, 2009

Wire EDM machining simulations based on STEP-NC program

Tehnicki vjesnik - Technical Gazette, 2016

Preliminary notes This paper presents the possibilities of applying a new method of programming b... more Preliminary notes 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 the possible methodology for simulation and verification of programs based on the STEP-NC using IDEF0 diagrams, as well as links between the software programs STEP-NC Machine and CAD/CAM system. The presented methodology is verified by the test workpiece machining, based on the STEP-NC program.

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Desktop 3-axis parallel kinematic milling machine

The International Journal of Advanced Manufacturing Technology, 2009

Parallel kinematic machines (PKM) are still a research-and-development topic in many laboratories... more 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 desktop educational 3-axis parallel kinematic milling machine is based on a newly developed 3-DOF spatial parallel mechanism. This paper describes the structure of the machine, modeling approach, and control and programming system based on PC Linux platform with real-time extension and EMC2 (the Enhanced Machine Controller) software system.