Kinematic modeling of 5-axis horizontal milling machine emulated from vertical articulated robot
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...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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University of Belgrade - Faculty of Mechanical Engineering, Belgrade
2018-01-01
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| Series: | FME Transactions |
| Subjects: | |
| Online Access: | https://scindeks-clanci.ceon.rs/data/pdf/1451-2092/2018/1451-20921801046S.pdf |
| _version_ | 1818147206220218368 |
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| author | Slavković Nikola Dimić Zoran Živanović Saša Milutinović Milan |
| author_facet | Slavković Nikola Dimić Zoran Živanović Saša Milutinović Milan |
| author_sort | Slavković Nikola |
| collection | DOAJ |
| description | 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 articulated industrial robots to emulate 5-axis horizontal machine tools. The solution to the inverse kinematics problem was the basis for the analysis of the machining robot workspace. Starting from equations of direct and inverse kinematics the control and programming system in G-code was developed, based on EMC2 software system. Developed control and programming system enables use of the available CAD/CAM systems for programming 5-axis machine tools, i.e. it is directly applicable by programmers and operators experienced in CNC technologies and G-code programming. Verification of kinematic modeling and developed control and programming system was carried out by machining experiments on an available domestic 6-axis robot LOLA 50. |
| first_indexed | 2024-12-11T12:31:33Z |
| format | Article |
| id | doaj.art-97df9effcc83405bb6ceae3208d84050 |
| institution | Directory Open Access Journal |
| issn | 1451-2092 2406-128X |
| language | English |
| last_indexed | 2024-12-11T12:31:33Z |
| publishDate | 2018-01-01 |
| publisher | University of Belgrade - Faculty of Mechanical Engineering, Belgrade |
| record_format | Article |
| series | FME Transactions |
| spelling | doaj.art-97df9effcc83405bb6ceae3208d840502022-12-22T01:07:13ZengUniversity of Belgrade - Faculty of Mechanical Engineering, BelgradeFME Transactions1451-20922406-128X2018-01-0146146561451-20921801046SKinematic modeling of 5-axis horizontal milling machine emulated from vertical articulated robotSlavković Nikola0https://orcid.org/0000-0002-1241-8944Dimić Zoran1https://orcid.org/0000-0002-1496-4981Živanović Saša2https://orcid.org/0000-0003-4950-8203Milutinović Milan3University of Belgrade, Faculty of Mechanical EngineeringLOLA Institute, BelgradeUniversity of Belgrade, Faculty of Mechanical EngineeringTehnikum Taurunum, College of Applied EngineeringIndustrial 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 articulated industrial robots to emulate 5-axis horizontal machine tools. The solution to the inverse kinematics problem was the basis for the analysis of the machining robot workspace. Starting from equations of direct and inverse kinematics the control and programming system in G-code was developed, based on EMC2 software system. Developed control and programming system enables use of the available CAD/CAM systems for programming 5-axis machine tools, i.e. it is directly applicable by programmers and operators experienced in CNC technologies and G-code programming. Verification of kinematic modeling and developed control and programming system was carried out by machining experiments on an available domestic 6-axis robot LOLA 50.https://scindeks-clanci.ceon.rs/data/pdf/1451-2092/2018/1451-20921801046S.pdfrobotic machiningmachining toolskinematic modelingcontrol systemprogrammingg-code |
| spellingShingle | Slavković Nikola Dimić Zoran Živanović Saša Milutinović Milan Kinematic modeling of 5-axis horizontal milling machine emulated from vertical articulated robot FME Transactions robotic machining machining tools kinematic modeling control system programming g-code |
| title | Kinematic modeling of 5-axis horizontal milling machine emulated from vertical articulated robot |
| title_full | Kinematic modeling of 5-axis horizontal milling machine emulated from vertical articulated robot |
| title_fullStr | Kinematic modeling of 5-axis horizontal milling machine emulated from vertical articulated robot |
| title_full_unstemmed | Kinematic modeling of 5-axis horizontal milling machine emulated from vertical articulated robot |
| title_short | Kinematic modeling of 5-axis horizontal milling machine emulated from vertical articulated robot |
| title_sort | kinematic modeling of 5 axis horizontal milling machine emulated from vertical articulated robot |
| topic | robotic machining machining tools kinematic modeling control system programming g-code |
| url | https://scindeks-clanci.ceon.rs/data/pdf/1451-2092/2018/1451-20921801046S.pdf |
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