University of Banja Luka Bosnian Norwegian

research based innovation

Mechanical faculty Banja Luka for development of new,
environmental friendly,
competitive robot
technology for selected target groups
This project is funded by the Royal Norwegian Ministry of Foreign Afairs
The project partners:
abrika vijaka d!o!o!, Mrkonjic "rad, Bosnia and #er$egovina
%%M &', (rondheim, Norway
Master (hesis for )usko *u$icic
DE!"N!N" A R#$#T!% MAN&FA%T&R!N" %E'' $AED #N
%N% ('AMA %&TT!N" MA%)!NE
E*planation:
abrika vijaka Mrkonjic "rad produces a wide range of parts using sheet
metal and pro+les of various shapes for power distribution systems, one of
its basic technological operations being sheet metal cutting! (o cut sheet
metal, a ,N, plasma cutting machine is used which is characteri$ed by-

.///01/// mm ma0imum sheet metal dimensions2
Using ,artesian coordinate system 3working 4) dimensions52
.//0.///01///mm cutting table2
Ma0imum cutting thickness all types of steel up to .6mm2
,N, plasma cutting machine operates in the 4) coordinate
system2
(he control unit is a %, computer e7uipped with the appropriate
drivers that via serial *'.4. and parallel 3L%(5 interface
operated by machines2
Ma0imum weight of parts being cut which are subjected to robot
manipulation is 8/ kg2
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(hree software systems, namely 'olid9orks version '9./8/ '%/!/ 9in1:
3,&)5, 'heet,am (N" 'table version ;6!/!8:! 3,&M5 and Mach4 version
*4!/:.!/:/ 3<nterpolator5 provide support to the ,N, plasma cutting
machine for sheet metal so that the plasma cutting process takes place in
three phases-

By applying 'olid9orks ,&) system, a 4) model is used to generate
the re7uired shape of the part, prepared by )= format to enter the
programming ,&M system!
&n N, code is generated in 'heet,>? system, which speci+es the
path using cutting parameters and together with Mach4 interpolator
controls the ,N, machine drive!
&fter cutting, the parts are picked up from the cutting table and
palleti$ed depending on whether they are +nished products or some
other technologies still need to be applied such as- bending, welding,
assembly, etc!
(he application of ,N, plasma machine in the process of cutting has led to
some improvements since the reduced cutting time and improved 7uality
have been obtained! (his greatly reduces +nishing processes, increases
productivity and reduces production costs because it almost eliminates the
use of e0pensive tools!
%alleti$ing of sheet metal parts is performed manually after the process of
natural cooling! (hat makes palleti$ing 7uite a long process, when a great
part of time is lost!
(he palleti$ing process could be improved by using a robot with si0 degrees
of freedom and with an additional linear a0is due to the table length!
,ontents-
8! <ntroduction the study of @e0ible manufacturing systems2
.! %lasma cutting technology2
:! )esigning sheet metal manufacturing processes using plasma
technology2
4! Basic theory of robot operation and robotic grippers2
6! )esigning a virtual robotic manufacturing cell for plasma cutting2
1! 'imulating the operation of a virtual robotic manufacturing cell for
plasma cutting2
A! (he eBects of the application of a robotic manufacturing cell for plasma
cutting!
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Mentor- 'ubmentor-
%rof 'imo Dokanovic %rof (rygve (homessen
University of Banja Luka %%M &' Norway
'ubmentors-
%rof Mihailo 'toicic CCCCCCCCCCCCCCCCCCCCCCCCC
%rof ;id Dovisevic CCCCCCCCCCCCCCCCCCCCCCCCC
University of Banja Luka
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