1.

.
.
.

, ,
,
.
CAD (. Computer Aided Design) .
,
. ,
.
.

)
. (. flexibile
automation) .
.

:

(. short-time, long-time flexibility).
,
.

.
.

. , .
o
, :
,
,

.
1.1.

,
. :
CNC , , ,
, .
1.1

1.2.
(. flexibile manufacturing cell)
. ()
,
. ,
.

1.2
1.2 .
,
,
. ,
. ,
, , .

1.3.

, . .

.

1.3
, ,
.
. , .
.
(engl. buffers) .

1.4.

(. )
.

.
,
. . ,
.
. ,
.
,
.
(. Flexibile manufacturing system - FMS).

 , () .

.
. .

1.4

1.5
1.5
o .
1.6 -
-
.
.
1.5.

-. , ,
CNC . ,

.

.
.
.
.
1.


.
. , ,
. .
,
.
, .

.
. .
. ,
, .

.
() , .
1.6.

.

: , ,
, ,
, .
1.
, ,

, .
, ,
,
CNC , , .
,
, . ,
. ,

,
. ,
. CNC
.
. .
1.6.1.

.
, .
,
, .
,
.

. , j
- .
,
.
.
.
,
. ,

() .
,
.
.
.
1.6.2.
,
: , , ,
.

 .

.

, , ,
,
.

. .
, .

, .

. ,
.
.

.
.
.
,
. , ,

. ,

.
.
.
,

.
.
.

1.6.3.
- ,
,
.
( ) ,
,
.
,
.
.
,
.
. , , ,
,
,
. .
, ,
,
. ,
.
.
 ,
. (. ),
.

.
,
, ,
. ,
. . , ,
.

2.
,
.
.
, . 2.1
.
2.1

.
,
.
,
.

.

:
- ,
- ,
- ,
- ,
- .
:
- ,
- ,
- .

2.1.
.

.
, 2.1.
:
,
,

.
:
,

.
 :
,
,
,
- ,
- .
PAM ( . Plasma Arc Machining)
.
, .
15 .
2.2.
, .
, 2.2.
.

2.2 (, , )
,
. .

.
2.3.
, ,
.
.

2.3

, .
.
2.2 .
.
.

2.3.
:
,
,

.
. ,
.
, .

.
25  C, 2.4.
2.4
 ,
.
:

:
I (A) - ,
- , .
,
r (cm) - .

.

,
.

2.4.
:
,
,
,
,
,
,
- (, ,),
(. Plasma Surface Engineering PSE), .
2.5.

.
.

, 2.5. 5 mm
CNC 15 mm.
.
2.5
.
(
) .
(
).
,
. ,
.
.
, . ,
, , ,
.

( , ).
.
(
)
.

.
.
.
,
.
.
.
,3 do  m min,
,5 3 m min. 2.1
3
3 mm 5.

2.1 Hypertherm-

. (
 mm)
. , 25 mm,
3-5 .
2.6. CNC
CNC ...
, 2.6 . :
,

.

2.6 CNC

CNC :
- : CNC
2x6mm,
- : ,
- : 2x2x6mm,
- : 1x266x65mm,
- 5 1 bar,
,
- Hypertherm 5A,
- 2mm.

1x266x65mm
Y

Y. Y 2 ,
2.
.
2.
CNC
Z
. Z
THC(. Torch Height Control).
THC
.
,
.
. , THC
.

.
.
.
 :
- PC ,
- ,
-
- ().
PC (RS232) (LPT)
. RS45 ,
PC .
.
4 Nema 23, 2..
4V.
GECKO 2..

2. Nema 23

2. Gecko G251

Gecko G251
. . 2.2
.
2.2 Gecko G251
2.1:
- ,
- ,
-
- .

2.1
2.11
. 45 5
14V.
2.11

( )
.
1 bar.
.
() .
j, .
(, , ).
2.11a.

2.11 .)  .)  .)
.
,
 ,
.

.

.


.
.

2.12.
.
2.12

: 1( ), 2( ),
3 (), 4() 5( ).

2.13
.

.
.

3,4 5.
( 3) 1
2mm .

. .

.
2.
.

.
(mm min)

.
.
P (PI U) .
,
( , ,
). ()
.
,
,
. ,
, .

NN12.

.
,
 , .
, .
,
.
,
.
.
:
, , , ,
.

,
. .
,
.

.
.
.

2.14 (1), (2) (3)

DIN-EN-13. .
:
Kt - ,
Kb - ,
St -
- .
2.15

3.

CNC , ,
,
. ,
, ,
CNC , , .
3.1 CNC
CNC .
CNC ,
,
.
, .
,
 . ,
.
CNC
. (. Computer-aided technologies CAx)

.
CAx
(. Product Lifecycle Management PLM), j (. Computer-aided design CAD)
(. Finite element analysis FEA),
(. Computer-aided manufacturing CAM) .
CAD CAM- .

. CAD-
CAM-. , CAD-
u CAM
o
CNC .

3.1. 3D CAD
, , 3D
SolidWorks. SolidWorks 3D CAD
, , .

, , , j, ,
j, , .
SolidWorks ,
, .
, ,
. SolidWorks 3D CAD
, , .
SolidWorks 3D CAD
,
.
3D .
, ,
.

.
(. eDrawings)
2D 3D
.
.
, ,
.
,
.
.

.
()

.
SolidWorks 3D CAD :
,
,
,
,
 ,
,
,
,
,
,
, ,
,
,
,
,
.
CAD CAM ,
CAM-.

3.2. CAM
CAD
CNC , .
.
CAM-.
CAM ,

,
.
CAM :
,
,
,
,
,
,
,
NC
.

CAM CAD

. CAD

, , , ,
, , CAM ,
. .

,
.

, , , , .

,
.

CAM
, ,
.
NC ,
,
CAM . ,
,
, HTML .
, ,
, :
,
,
,

.

. , ,
,
.
. ,
,
, , , .
CAM , ,
. , ,
, .

3.2.1. CAM CNC

SheetCam TNG V6.1.. CAM ,
, .
SheetCam CAM ,
. .
,
3.2.
.
Options.
3.2
SheetCam , 3.3:
a e (, )
(, ).
3.3
 , .
. CAM
CNC . ,
C
(. Cutter Location Data file).
, CAM , CNC
, .
3.4
,
, , ,
.
CNC
. .
X Y .
3.5 CNC

.
3.6 CNC

CAM CAD- DXF (. Drawing Exchange Format),

Autodesk. CAD
AutoCAD- . DXF 2D
, , ,
.
DXF .
SheetCam TNG V6.1.. 3.
)
, NC . CAM-
,
.
3.
) ,
., .
.
3.

.
(
,
e .

3. )
, .
, .
3.

, 3. ).
.

. 5.
,
,
. (. Layer)
. .


.
,
.

o
3.. ,

.
3.

.
.
. CAM-
. : ,
, , a ,
, .
3.1
.
.
.
,
.
.

. 2 2,
1.

, 3.11.
3.11
CAM ,
.
,
. (
), .
. ,
, .
.

3.13.
SheetCam , 3.12.
.
.
, .

.
3.12
.

.
SheetCam 3.13
.
3.13 SheetCam-
, .
.
CNC
3.1 3.13.
:
N ,
G ,
G1 ,
G2 ,
G3 ,
G4 ,
G21 ,
G2.1 ,
G4 ,
G53 ,
G ,
G2 ,
S1 (HC),
S2 (HC),
X, Y,Z ,
F ,
M3 ,
M5
.

3.1 CNC
N1 (Filename: Kvadarat rupe.tap)
N2 (Post processor: MP3-DTHCIIscriber2 prepravljani 1m.scpost)
N3 (Date: 4 1 214)
N4 G21 (Units: Metric)
N5 F1
N6 G53 G G4
N
 S1 (DTHC is off)
N (Part: Kvadarat rupe)
N (Operation: Outside Offset, , T4: Alat broj 1)
N1 G X. Y.
N11 Z.
N12 (tool number: 4 Feedrate: 3)
N13 (No Stored DTHC parameters in this POST)
N14 G Z1.
N15 X21
.4 Y6.63
N16 Z3.
N1
 G2.1 Z3. F2.
N1 G2 Z.
N1 G Z.
N2 G2 Z.
N21 G Z3.
N22 M3
N23 G4 P1
N24 G1 Z1.5 F1.
N25 G2 X211. Y13.363 I. J6.4 F3.
N26 S2 (DTHC is on)
N2
 G1 Y11.
N2 G3 X21. Y111. I-1. J.
N2 G1 X1.
N3 G3 X. Y11. I. J-1.
N31 G1 Y1.
N32 G3 X1. Y. I1. J.
N33 G1 X21.
N34 G3 X211. Y1. I. J1.
N35 G1 Y13.363
N36 G2 X21
.4 Y1.
63 I6.4 J.
N3
 M5
N3 G4 P2
N3 G Z1.
N4 X13.6 Y

.6
N41 Z3.
N42 Z3.
N43 M3
N44 G4 P1
N45 G1 Z1.5 F1.
N46 G2 X11. Y4. I6.4 J. F3.
N4
 I. J-24.
N4 X116.4 Y

.6 I. J-6.4
N4 M5
N5 G4 P2
N51 G Z1.
N52 X. Y.
NC CAM-,
CNC .
MACH3 ,
3.14.
CNC .

3.14 , MACH3

4.

4.1.
,,, ,,
.
. .

, .
.
, ,
, , .
.

 , , ,
.
:
,
,
,
SCARA ,

.
:
( )
( ).
:
,
,

( ).

.
.
,
,
.
j ,

.
.
.

.
, :
a ( ),
,
,
.
,
:
,
,

.
.
.
, .
e
. ,
.
, .
.
4.2.
,
,
.
 , 4.1.
:

,
:

.
4.1

. n .
:
,
,

.

.
.
.
.

4.2 () ()
4.3 () ()

se
. .

. 3
(x, y, y).
(,,) .
336 .
4, 5 6 .

:

.


.
,
.
qi, i
1,2,...,n :
 (4.1)

4.4

.
x, y z,


(,,), 4.4:
- (ROLL)
- (PITCH)
- (YAW)
4.4
4.5
z ,
y ( ),
x ( ).
s :
x, y z

, , ,
() :
 (4.2)
s
q .
:
(4.3)

:

(4.4)
4.6
,
.
,

.

4.3.
, ,

.
.
 .
.

. ,
:

.

, .
:
,

.

.
:
,

.

:

.

.
.

:
,

.

:
,

.

1kHz,
1ms.
, ,
.

,
,
.
,
 . , o
.

4.4.

. CNC
:
,
,
,


,
.

4.

(
),
. (
)
. ,
,
.
(. ff line)
(. n line) .

,
j
.
:
(. oint to point
,

(. tracking control)

, .


.
.
:
,

.

.

.
.

4.4.1. PD

. (. feedbac
control) ,
PD .
:

(4.5)
:
,

,
 ,

,
,

,
.
4. PD




.
.

:



.
,

( )
.

.

4.4.2.
:

.
(. feedforward
control) :


( PD ).

.

.
:
 (4.6)

(
).

4.

4..

PD
.
4.4.3.
(. computed torque control)
online :

(4.
)
:

(4.)
a
. ,

.

. ,

, .

:
,
,

,

.

4.1
:
,
,
(,
),
,
on-line
.

.
:
(. Model Reference Adaptive
Control)
(. Selftuning Adaptive
Control).

.
4.5.

,
. , ,
.
, :
,
,
,
,
,
 , .
.
.
:
( ),
(, , ),
CNC ( ),
, , .
.
. :
,
.

CNC .
.
, 4.11, :
,
,

.

4.11 (1),
(2), (3), (4), (5)

.
.
.
( )
, ,
12.

4.12

.

. .
.
.
:

.
 4.13
(1) , (2) , (3)
(4) .
.
, 4.14

.
.

4.13

4.14 Schmalz,
1N