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2018, vol. 46, br. 1, str. 46-56
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Kinematičko modeliranje horizontalne 5-osne glodalice emulirane robotom vertikalne zglobne konfiguracije
Kinematic modeling of 5-axis horizontal milling machine emulated from vertical articulated robot
aUniverzitet u Beogradu, Mašinski fakultet, Srbija bLola institut, Beograd, Srbija cTehnikum Taurunum, College of Applied Engineering
e-adresa: nslavkovic@mas.bg.ac.rs
Sažetak
Industrijski roboti predstavljaju uspešnu alternativu 5-osnim mašinama alatkama za višeosnu obradu glodanjem delova od mekših materijala niže klase tačnosti. Iz ovih razloga se razvijaju softverska rešenja koja bi približila programiranje robota za obradu programiranju mašina alatki. U radu su predstavljeni rezultati kinematičkog modeliranja industrijskih robota vertikalne zglobne konfiguracije u cilju emuliranja horizontalnih 5-osnih mašina alatki. Na osnovu rešenja inverznog kinematičkog problema analiziran je radni prostor robota za obradu. Polazeći od jednačina direktne i inverzne kinematike razvijen je i sistem upravljanja i programiranja u G-kodu baziran na EMC2 softverskom sistemu. Razvijeni sistem upravljanja i programiranja omogućava upotrebu postojećih CAD/CAM sistema za programiranje 5-osnih mašina alatki, odnosno direktno je primenljiv od strane programera i operatera koji imaju iskustva u CNC tehnologijama i programiranju u G-kodu. Verifikacija kinematičkog modeliranja i razvijenog sistema upravljanja i programiranja je ostvarena eksperimentima obrade na rasploživom 6-oosnom robotu domaće proizvodnje LOLA 50.
Abstract
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.
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