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Configuring a Class of Machines Based on Reconfigurable 2DOF Planar Parallel Mechanism

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Current Problems in Experimental and Computational Engineering (CNNTech 2021)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 323))

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Abstract

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 will be used to configure machine tools with three or more DOFs. The software system consists of two parts. One part is a set of applications intended for machine analysis and defining optimal configuration, and the other part is a control system of the machine adapted to the hardware of the machine, its configuration and purpose. For the presented mechanism, the kinematic model of the mechanism is described first. Based on the kinematic model, equations representing solutions of kinematics problems are derived. The derived equations are in a generalized form, with some variable parameters of the machine, and in such a form they correspond to every possible configuration of the reconfigurable mechanism. The equations are initially used to analyze some basic configurations, and then to analyze some configurations that have not been analyzed and presented so far. Also, equations in this form that are applicable for all possible configurations of the mechanism, are part of both parts of the software system. The final result of the presented procedures is one machine that has optimized parameters in accordance with the appropriate production process and with a configured control system that corresponds to the configuration of the machine.

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Acknowledgements

The presented research was supported by the Ministry of Education, Science and Technological Development of the Republic of Serbia by contract no. 451-03-9/2021-14/200105 dated 5 February 2021.

Author information

Authors and Affiliations

  1. Department of Traffic, Mechanical and Protection Engineering, Academy of technical vocational studies, Nade Dimic 4, 11080, Belgrade, Serbia

    Goran Vasilic & Milan Milutinovic

  2. Department for Production Engineering, University of Belgrade, 11000, Belgrade, Serbia

    Goran Vasilic, Sasa Zivanovic & Branko Kokotovic

  3. LOLA Institute, Kneza Viseslava 70A, 11030, Belgrade, Serbia

    Zoran Dimic

Authors
  1. Goran Vasilic
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  2. Sasa Zivanovic
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  3. Branko Kokotovic
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  4. Zoran Dimic
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  5. Milan Milutinovic
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Corresponding author

Correspondence to Goran Vasilic .

Editor information

Editors and Affiliations

  1. Faculty of Mechanical Engineering, Department for Process Engineering and Environmental Protection, University of Belgrade, Belgrade, Serbia

    Nenad Mitrovic

  2. Faculty of Mechanical Engineering, Department for Production Engineering, University of Belgrade, Belgrade, Serbia

    Goran Mladenovic

  3. Faculty of Information Technology and Engineering, University Union - Nikola Tesla, Belgrade, Serbia

    Aleksandra Mitrovic

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Vasilic, G., Zivanovic, S., Kokotovic, B., Dimic, Z., Milutinovic, M. (2022). Configuring a Class of Machines Based on Reconfigurable 2DOF Planar Parallel Mechanism. In: Mitrovic, N., Mladenovic, G., Mitrovic, A. (eds) Current Problems in Experimental and Computational Engineering. CNNTech 2021. Lecture Notes in Networks and Systems, vol 323. Springer, Cham. https://doi.org/10.1007/978-3-030-86009-7_10

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