Configuring a new educational machine tool based on hybrid kinematic mechanism

U radu je pokazano konfigurisanje nove edukacione mašine na bazi mehanizma sa hibridnom kinematikom. Dat je opis koncepcije troosnog O-X hibridnog mehanizma koji se sastoji od jedne serijske translatorne ose i dvoosnog paralelnog mehanizma koji može da radi u dve varijante, sa opruženim O i ukrštenim X štapovima paralelnog mehanizma. Virtuelni prototip mašine je konfugurisan u CAD/CAM okruženju, gde su izvršene i simulacije rada mehanizma. Oformljen je sistem za programiranje mašine koji omogućava i verifikaciju programa. Za potrebe upravljanja konfigurisan je sistem upravljanja otvorene arhitekture na LinuxCNC platformi. Izvršen je probni rad mašine u cilju verifikacije realizovanog prototipa i upravjlanja.The paper shows the configuration of a new educational machine based on hybrid kinematics mechanism. The concept of a three-axis O-X hybrid mechanism is described, consisting of a single serial translational axis and a two-axis parallel mechanism that can operate in two variants, with extended form O and crossed form X-joints of the parallel mechanism. The virtual prototype of the machine was configured in a CAD/CAM environment, where simulations of the mechanism's operation were performed. A programming system for machine has been prepared that also enables program verification. An open architecture control system based on the LinuxCNC platform has been configured for control of the machine. The trial work of the machine was performed in order to verify the realized prototype and control