Dragan Milutinovic

A New 3-DOF Spatial Parallel Mechanism for Milling Machines with Long X Travel

It is well known that the shape and volume of the workspace are one of the greatest weaknesses of parallel kinematic machine tools (PKM). Hexaglide and Triaglide mechanisms are examples where workspace extension is achieved by elongating one axis as a principal motion axis that is a common feature of all Cartesian machines. With the idea of principal axis of motion in mind, a new 3-DOF spatial parallel mechanism for horizontal and vertical milling machines has been developed. In comparison with similar developed mechanisms it has several advantages such as: rather regular shape of the workspace (slightly modified block) similar to serial machines; greater stiffness by nature of the struts arrangement; good force and speed ratio through the entire mechanisms workspace. The paper describes the structure of the mechanism, modelling approach and simulation on a developed vertical milling machine prototype.

A new concept of the SCARA robot

Abstract Based on the SCARA concept, accepted worldwide, this paper considers the possibility of realizing SCARA with a full circle working area. The basis of the approach is a mechanism with two eccentrically positioned rotating discs instead several tools (hands) is also facilitated. This paper analyzes the advantages of the proposed solution and the possibilities of its realization.

A model-based vision system using a small computer

Abstract This approach is based on a fast and simple off-line formation of synthetic binary images of mechanical parts generated from basic solid modelling system. From so farmed synthetic binary images characteristic features are extracted in a similar way to that applied to binary images from a real scene. Recognition is then reduced to the on-line formation of binary images of real objects, extraction of their features and matching with those that have been learned for the purpose of recognition.

Universal compliant device based on SCARA concept

Abstract The paper presents the results of the research and the development of the universal adaptive compliant device for customary assembly task robot configurations. The developed system is based on a newly developed SCARA robotic mechanism and combined properties of the SCARA concept and RCC devices. It successfully operates around its true compliance center, obtained under precisely determined conditions.

Micro SCARA robot as universal adaptive compliant wrist

Abstract The newly developed robotic mechanism based on well-known SCARA concept uses two eccentrically positioned rotating discs instead of two joined links. The paper analyzes the capabilities and advantages of the use of this mechanism in the realization of micro SCARA robot as an additional adaptive compliant wrist to standard robot configurations for assembly tasks. The prototype of a universal passive adaptive compliant wrist was developed at this stage. The performance around its true compliance center obtained under precisely determined conditions proved successful.

Pose Measurement of Parallel Kinematic Machines with Serial Link Measuring System

For higher accuracy of parallel kinematic robots and machine tools in particular, several error models and compensation algorithms have been developed. The paper presents the approach for testing and control of Stewart platform-based machine tools and robots. The approach is based on serial link measuring system with six DOF in general, which may be used as an autonomous measuring device or in symbiosis with parallel kinematic machines to achieve Cartesian-based control schemes. Developed approach is demonstrated and verified on the example of developed planar parallel simulator with three DOF.

Yugoslav research and development program in robotics for CIM

Abstract Research and development programs are already established in many places all over the world, including Yugoslavia. However, the efforts which have been made have not offered adequate results. This means that it is necessary to reconsider basic approaches, starting from the robot phenomenon itself. This paper offers some thoughts in this direction by introducing catastrophe theory. As an appendix a reference list of research projects and published works by three laboratories in Yugoslavia are given.