Implementation of a robotic framework for multi-axis supportless fused filament fabrication via volume decomposition: a practical approach

While there is much research in advanced additive manufacturing (AM) techniques using robotic manipulators, establishing a functional robotic framework can be costly and time-consuming. The lack of reliable sources to address the challenges faced during this process can pose a serious obstacle for researchers looking to start research in this field. This paper presents a solution aimed at streamlining the establishment of a robotic framework for the material extrusion process (such as fused deposition modeling or fused filament fabrication) to implement single- and multi-axis 3D printing, serving as a foundation for further research and development in the field of robotic AM (RAM). A volume decomposition approach is presented to produce supportless prints via multi-axis printing, which saves time and material. The effect of multi-axis printing on the printing time and material usage was experimentally investigated and discussed. Additionally, this paper introduces the concept of the “printability index,” which can assist in efficiently positioning the build platform within the robot’s workspace. The proposed methodology in this paper is not intended to be unique or optimal; however, it provides helpful insights into developing such frameworks.