New generation of machine tools and robots

• Biomedical Engineering, Semester 2, position 5
• Production Engineering, Semester 2, position 5
• Automatic Control, Semester 2, position 5

1. Perception of different levels of the new generation of machine tools and robots concept. 2. Acquisition of basics of reconfigurable, high-speed, meso- and micro-machines and highaccuracy machine tools. 3. Practical knowledge about parallel kinematic machines and machines for material addition processes and multi-axis machining. 4. Development of programming skills relevant for the new generation of machine tools and robots. 5. Development of report-making skills.

After completed this course the students should be able to: •Understand the role, importance, types and applications of the new generation of machine tools and robots. •Understand different levels of the new generation of machine tools and robots concept. •Select appropriate new generation machine tools and robots for given technological task. •Select and prepare environment for operation of machine tools and robots. •Programming the new generation of machine tools and robots. •Use new programming methods for numerically controlled systems.

New teaching contents: T1. Definition and classification of the new generation of machine tools and robots. T2. Reconfigurable machine tools. T3. High-speed machine tools. T4. Machines for material addition processes. T5. Parallel kinematic machines concepts. T6. Identification of geometry and kinematics in parallel kinematic machines. T7. Multi-axis machine tools. T8. Multi-axis machining robots. T9. Meso- and micro-machines. T10. High-accuracy machine tools. Extension: (a) Extension of T1 and calculation tasks relevant for parallel kinematic machines geometry. (b) Extension of T2 and calculation tasks relevant for parallel kinematic machines. (c) Extension of T3 using the examples of meso- and micro-machines. (d) Extension of T4 using the examples of machine tool calibration. (e) Extension of T5 using the examples of compensations in the machining system.

Practical teaching involves auditorial exercises, laboratory work and seminar work writing. 1. Auditorial exercises: (1)Resources for studying the new generation of machine tools and robots. (2)Analysis of reconfigurable machines. (3)Machine tool calibration and compensations in the machining system. 2. Laboratory exercises: (1)Programming of machines for material addition processes. (2)Programming of DELTA robot. (3)Programming of parallel kinematic machines. (4)Programming of multi-axis machining. Instructions are provided for each exercise and the necessary work sheets. 3. A seminar work on the new generation of machine tools and robots. 4. A report is written on the knowledge acquired during the course according to instructions and model provided at the start of the course. A part of the report is a seminar work.

Study curriculum and student motivation for learning about machine tools and industrial robots according to the goals set and outcomes offered.

1. Documents on the web site http://cent.mas.bg.ac.rs/nastava/ma_bsc/indexnma.htm. 2.Documents for the areas of parallel mechanisms and multi-axis machining of robots. 3. W. R. Moore, Foundations of Mechanical Accuracy, The Moore Special Tool Company, First Edition, Third Printing, 1999. 4. Y. Ito, Modular Design for Machine Tools, McGraw-Hill, 2008, DOI: 10.1036/0071496602. 5. D. Kochan, Ed, Solid Freeform Manufacturing, Advanced Rapid Prototyping, Elsevier, 1993, ISBN 0-444-89652-X. 6. H. Schulz, Hochgeschwindigkeitsfraesen metallischer und nichtmetallischer Werkstoffe, Hanser Verlag, 1989, ISBN 3-446-15589-9. 7. K. Ehmann, D. Bourell, M. Culpepper, T. Hodgson, T. Kurfess, M. Madou, K. Rajurkar, R. DeVor, International Assessment of Research and Development in Micromanufacturing, Final Report, WTEC, 2005. 8. Tsai L.-W. (1999) Robot Analysis: The Mechanics of Serial and Parallel Manipulators, Wiley, New York. 9. Merlet J.-P. (2000) Parallel Robots, Kluwer Academic Publisher, Dordrecht, The Netherlands. 10. PRA-1: Practicum in preparation. 11. LPI-1: Two work-places equipped with prototypes of the new generation of machine tools (3-axis parallel milling machine, desktop 3-axis parallel milling machine). 12. LPI-2: Two work-places equipped with prototypes of the new generation of robots (serial machining robot, DELTA robot). 13. LPS-1: Functional simulators of parallel kinematic machines. 14. LPS-2: Functional simulator of the machine for prototype building. 15. CSP-1: Two work-places equipped with the software for programming of multi-axis machining.

Total assigned hours: 75

New material: 20
Elaboration and examples (recapitulation): 10

Auditory exercises: 5
Laboratory exercises: 21
Calculation tasks: 0
Seminar paper: 4
Project: 0
Consultations: 0
Discussion/workshop: 0
Research study work: 0

Review and grading of calculation tasks: 0
Review and grading of lab reports: 1
Review and grading of seminar papers: 1
Review and grading of the project: 0
Test: 3
Test: 5
Final exam: 5

Activity during lectures: 0
Test/test: 50
Laboratory practice: 10
Calculation tasks: 0
Seminar paper: 10
Project: 0
Final exam: 30
Requirement for taking the exam (required number of points): 35

J. A. McDonald, C. J. Ryall, D. I. Wimpenny (Eds.), Rapid Prototyping Casebook, Wiley, 2001, ISBN: 978-1-86058-076-5.; Karlo Arpo, Secrets of 5-Axis Machining, Industrial Press,Ink. New York, 2008. ISBN: 978-0-8311-3375-7; S. S. Makhanov, W. Anotaipaiboon, Advanced Numerical Methods to Optimize Cutting Operations of Five-Axis Milling Machines, Springer, 2007, ISBN 978-3-540-71120-9.; L. C. Hale, Principles and Techniques for Designing Precision Machines, Ph.D. Thesis, 1999, Lawrence Livermore National Laboratory, UCRL-LR-133066.; N. Taniguchi, T. K, K. M, K. I, I. M, T. D. (Eds.), Nanotechnology, Integrated Processing Systems for Ultra-precision and Ultra-fine products, Oxfod University Press, 1996, ISBN10: 0198562837.