Collaborative Robot for Contouring Machining of 3D-Printed Components

3D-printed components show external and visible defects that could compromise their functionality and aesthetic quality. Robotic solutions for contouring machining of such components are valid alternatives to CNC machines. The present activity focuses on developing and testing a robotic station based on a collaborative robot for contouring machining of MEX 3D-printed thermoplastic components. To simplify the tool path definition, a procedure is proposed and validated. A prototyped powered and sensorized end-effector is presented to execute the machining task. Experimental results demonstrate the feasibility of adopting the cobot solution for the purpose of the presented activity under specific working conditions and suggest improvements for further developments.