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Robot Assisted Additive Manufacturing: A reviewPinar Urhal, Andrew Weightman, Carl Diver, Paulo Bartolo*School of Mechanical Aerospace and Civil Engineering, The University of Manchester, UK*Corresponding Author: paulojorge.dasilvabartolo@manchester.ac.ukAbstractThe additive manufacturing and the robotic applications are tremendously increasing in the manufacturing field. This review paper discusses the concept of robotic-assisted additive manufacturing. The leading additive manufacturing methods that can be used with a robotic system are presented and discussed in detail. The information flow required to produce an object from a CAD model through a robotic-assisted system, different from the traditional information flow in a conventional additive manufacturing approach is also detailed. Examples of the use of robotic-assisted additive manufacturing systems are presented. Key words: 3D Printing, Additive manufacturing, Multi-axis printing, Robots IntroductionManufacturing is a process through which different raw materials are transformed into final products through the use of different fabrication methods ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1016/J.JMSY.2016.03.001","ISSN":"0278-6125","abstract":"Manufacturing is continuously evolving from concept development to methods and tools available for the production of goods for use or sale. Traditionally, manufacturing refers to an industrial production process through which raw materials are transformed into finished products to be sold in the market. However, these days manufacturing is considered to be an integrated concept at all levels from machines to production systems to an entire business level operation. Although there have been considerable developments in manufacturing technologies and processes, the actual scope and elements of manufacturing systems are complex and not adequately defined. This paper provides a review of both the tangible and intangible elements of manufacturing systems and presents a state-of-the-art survey of published work. It studies the evolution of research in manufacturing starting from past and current trends to future developments. How manufacturing systems have been classified is also presented. Through this extensive survey of the literature, future directions of this changing field are suggested.","author":[{"dropping-particle":"","family":"Esmaeilian","given":"Behzad","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Behdad","given":"Sara","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Wang","given":"Ben","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Journal of Manufacturing Systems","id":"ITEM-1","issued":{"date-parts":[["2016","4","1"]]},"page":"79-100","publisher":"Elsevier","title":"The evolution and future of manufacturing: A review","type":"article-journal","volume":"39"},"uris":[""]}],"mendeley":{"formattedCitation":"[1]","plainTextFormattedCitation":"[1]","previouslyFormattedCitation":"[1]"},"properties":{"noteIndex":0},"schema":""}[1]. In recent years, new manufacturing methods, such as additive manufacturing and advanced robotics, were developed and increasingly used by different industrial sectors, radically changing the way products are made. Additive manufacturing (AM) describes a group of processes that produce objects by depositing materials in a layer-by-layer way ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1007/978-1-4939-2113-3","ISBN":"978-1-4939-2112-6","ISSN":"0717-6163","PMID":"15003161","abstract":"This book covers in detail the various aspects of joining materials to form parts. A conceptual overview of rapid prototyping and layered manufacturing is given, beginning with the fundamentals so that readers can get up to speed quickly. Unusual and emerging applications such as micro-scale manufacturing, medical applications, aerospace, and rapid manufacturing are also discussed. This book provides a comprehensive overview of rapid prototyping technologies as well as support technologies such as software systems, vacuum casting, investment casting, plating, infiltration and other systems. This book also: Reflects recent developments and trends and adheres to the ASTM, SI, and other standards Includes chapters on automotive technology, aerospace technology and low-cost AM technologies Provides a broad range of technical questions to ensure comprehensive understanding of the concepts covered.","author":[{"dropping-particle":"","family":"Gibson","given":"Ian","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Rosen","given":"David","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Stucker","given":"Brent","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Additive Manufacturing Technologies: 3D Printing, Rapid Prototyping, and Direct Digital Manufacturing, Second Edition","id":"ITEM-1","issued":{"date-parts":[["2015"]]},"title":"Additive Manufacturing Technologies","type":"book"},"uris":[""]}],"mendeley":{"formattedCitation":"[2]","plainTextFormattedCitation":"[2]","previouslyFormattedCitation":"[2]"},"properties":{"noteIndex":0},"schema":""}[2]. This technology, which is in its infancy, emerged in the late 1980s under the name of rapid prototyping. It was initially used to produce conceptual models to discuss design ideas, for form and fit applications or the production of architectural or anatomical models ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1016/j.autcon.2017.12.031","ISBN":"1552-4981 (Electronic) 1552-4973 (Linking)","ISSN":"09265805","PMID":"28736923","abstract":"Additive manufacturing (AM), also known as 3D printing, fabricates components in a layerwise fashion directly from a digital file. Many of the early applications of AM technologies have been in the aerospace, automotive, and healthcare industries. Building on the advances in AM in these industries, there are several experimental applications of AM in the construction sector. Early investigations suggest that use of AM technologies for construction have the potential to decrease labor costs, reduce material waste, and create customized complex geometries that are difficult to achieve using conventional construction techniques. However, these initial investigations do not cover the full range of potential applications for construction or exploit the rapidly maturing AM technologies for a variety of material types. This paper provides an up-to-date review of AM as it relates to the construction industry, identifies the trend of AM processes and materials being used, and discusses related methods of implementing AM and potential advancements in applications of AM. Examples of potential advancements include use of multi-materials (e.g., use of high-performance materials only in areas where they are needed), in-situ repair in locations that are difficult or dangerous for humans to access, disaster relief construction in areas with limited construction workforce and material resources, structural and non-structural elements with optimized topologies, and customized parts of high value. AM's future in the construction industry is promising, but interdisciplinary research is still needed to provide new materials, new processes, faster printing, quality assurance, and data on mechanical properties before AM can realize its full potential in infrastructure construction.","author":[{"dropping-particle":"","family":"Delgado Camacho","given":"Daniel","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Clayton","given":"Patricia","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"O'Brien","given":"William J.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Seepersad","given":"Carolyn","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Juenger","given":"Maria","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Ferron","given":"Raissa","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Salamone","given":"Salvatore","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Automation in Construction","id":"ITEM-1","issued":{"date-parts":[["2018"]]},"title":"Applications of additive manufacturing in the construction industry – A forward-looking review","type":"article-journal"},"uris":[""]}],"mendeley":{"formattedCitation":"[3]","plainTextFormattedCitation":"[3]","previouslyFormattedCitation":"[3]"},"properties":{"noteIndex":0},"schema":""}[3]. Materials were limited to few polymers, ceramics and metals ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1016/positesb.2018.02.012","ISBN":"1359-8368","ISSN":"13598368","abstract":"Freedom of design, mass customisation, waste minimisation and the ability to manufacture complex structures, as well as fast prototyping, are the main benefits of additive manufacturing (AM) or 3D printing. A comprehensive review of the main 3D printing methods, materials and their development in trending applications was carried out. In particular, the revolutionary applications of AM in biomedical, aerospace, buildings and protective structures were discussed. The current state of materials development, including metal alloys, polymer composites, ceramics and concrete, was presented. In addition, this paper discussed the main processing challenges with void formation, anisotropic behaviour, the limitation of computer design and layer-by-layer appearance. Overall, this paper gives an overview of 3D printing, including a survey on its benefits and drawbacks as a benchmark for future research and development.","author":[{"dropping-particle":"","family":"Ngo","given":"Tuan D.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Kashani","given":"Alireza","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Imbalzano","given":"Gabriele","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Nguyen","given":"Kate T.Q.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Hui","given":"David","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Composites Part B: Engineering","id":"ITEM-1","issued":{"date-parts":[["2018"]]},"title":"Additive manufacturing (3D printing): A review of materials, methods, applications and challenges","type":"article"},"uris":[""]}],"mendeley":{"formattedCitation":"[4]","plainTextFormattedCitation":"[4]","previouslyFormattedCitation":"[4]"},"properties":{"noteIndex":0},"schema":""}[4]. Gradually the technology developed from rapid prototyping to rapid tooling allowing the direct or indirect fabrication of tools for injection moulding, thermoforming or blow moulding applications or for the fabrication of electrodes for electrical discharge machining applications ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1016/j.procir.2017.12.027","ISBN":"4903039110","ISSN":"22128271","abstract":"Application fields of electrical discharge machining (EDM) are limited due to given process conditions. When producing structures of high aspect ratios or using multi-axis machining, removed particles assemble at the machining zone, leading to process instabilities. A promising approach to improve EDM process conditions is the utilization of flushing channels in the tool electrode. However, with increasing complexity of the electrode geometry and the local integration of the mentioned flushing channels, conventional electrode manufacturing reaches its limitations. By applying Selective Laser Melting (SLM), these limitations are eliminated. The appropriate integration of flushing channels, even for complicated electrode geometries, improves process conditions during EDM in a variety of applications, leading to a higher material removal rate VWand reduced tool wear ? compared to machining without flushing. Additionally, the number of required tool electrodes can be reduced, as SLM enables an efficient integration and miniaturization of all features in a single electrode. Of particular interest in the field of EDM is carbide. Because of its wear resistance and stability, it is an ideal electrode material, which is commonly applied in μEDM. Tungsten carbide-cobalt is representative for this group of materials, which is already used in tool manufacturing. Several tests show a general suitability of carbide tool electrodes made by SLM for EDM-processing. However, the SLM process parameters and the composition of the carbide-cobalt show significant impact to the EDM results. A lower proportion of cobalt leads to reduced material removal rates VWand rising tool wear.","author":[{"dropping-particle":"","family":"Uhlmann","given":"Eckart","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Bergmann","given":"André","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Bolz","given":"Robert","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Gridin","given":"Witalij","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Procedia CIRP","id":"ITEM-1","issued":{"date-parts":[["2018"]]},"title":"Application of Additive Manufactured Tungsten Carbide Tool Electrodes in EDM","type":"paper-conference"},"uris":[""]}],"mendeley":{"formattedCitation":"[5]","plainTextFormattedCitation":"[5]","previouslyFormattedCitation":"[5]"},"properties":{"noteIndex":0},"schema":""}[5]. Finally, additive manufacturing moved from rapid prototyping or rapid tooling to rapid manufacturing enabling the fabrication of final and fully functional products ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1007/s00170-015-7576-2","ISBN":"0268-3768","ISSN":"0268-3768","PMID":"25246403","abstract":"Additive manufacturing is a technology rapidly expanding on a number of industrial sectors. It provides design freedom and environmental/ecological advantages. It transforms essentially design files to fully functional products. However, it is still hampered by low productivity, poor quality and uncertainty of final part mechanical properties. The root cause of undesired effects lies in the control aspects of the process. Optimization is difficult due to limited modelling approaches. Physical phenomena associated with additive manufacturing processes are complex, including melting/solidification and vaporization, heat and mass transfer etc. The goal of the current study is to map available additive manufacturing methods based on their process mechanisms, review modelling approaches based on modelling methods and identify research gaps. Later sections of the study review implications for closed-loop control of the process.","author":[{"dropping-particle":"","family":"Bikas","given":"H","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Stavropoulos","given":"P","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Chryssolouris","given":"G","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"The International Journal of Advanced Manufacturing Technology","id":"ITEM-1","issued":{"date-parts":[["2016"]]},"title":"Additive manufacturing methods and modelling approaches: a critical review","type":"article-journal"},"uris":[""]}],"mendeley":{"formattedCitation":"[6]","plainTextFormattedCitation":"[6]","previouslyFormattedCitation":"[6]"},"properties":{"noteIndex":0},"schema":""}[6].Currently, additive manufacturing comprises seven different techniques (Table 1) enabling to process all types of materials including biological (cells and biomolecules), smart and functionally graded materials ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1016/J.ADDMA.2014.08.005","ISSN":"2214-8604","abstract":"Given the attention around additive manufacturing (AM), organizations want to know if their products should be fabricated using AM. To facilitate product development decisions, a reference system is shown describing the key attributes of a product from a manufacturability stand-point: complexity, customization, and production volume. Complexity and customization scales enable the grouping of products into regions of the map with common levels of the three attributes. A geometric complexity factor developed for cast parts is modified for a more general application. Parts with varying geometric complexity are then analyzed and mapped into regions of the complexity, customization, and production volume model. A discrete set of customization levels are also introduced. Implications for product development and manufacturing business approaches are discussed.","author":[{"dropping-particle":"","family":"Conner","given":"Brett P.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Manogharan","given":"Guha P.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Martof","given":"Ashley N.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Rodomsky","given":"Lauren M.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Rodomsky","given":"Caitlyn M.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Jordan","given":"Dakesha C.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Limperos","given":"James W.","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Additive Manufacturing","id":"ITEM-1","issued":{"date-parts":[["2014","10","1"]]},"page":"64-76","publisher":"Elsevier","title":"Making sense of 3-D printing: Creating a map of additive manufacturing products and services","type":"article-journal","volume":"1-4"},"uris":[""]},{"id":"ITEM-2","itemData":{"DOI":"10.1016/J.BIOACTMAT.2017.11.008","ISSN":"2452-199X","abstract":"3D printing, an additive manufacturing based technology for precise 3D construction, is currently widely employed to enhance applicability and function of cell laden scaffolds. Research on novel compatible biomaterials for bioprinting exhibiting fast crosslinking properties is an essential prerequisite toward advancing 3D printing applications in tissue engineering. Printability to improve fabrication process and cell encapsulation are two of the main factors to be considered in development of 3D bioprinting. Other important factors include but are not limited to printing fidelity, stability, crosslinking time, biocompatibility, cell encapsulation and proliferation, shear-thinning properties, and mechanical properties such as mechanical strength and elasticity. In this review, we recite recent promising advances in bioink development as well as bioprinting methods. Also, an effort has been made to include studies with diverse types of crosslinking methods such as photo, chemical and ultraviolet (UV). We also propose the challenges and future outlook of 3D bioprinting application in medical sciences and discuss the high performance bioinks.","author":[{"dropping-particle":"","family":"Derakhshanfar","given":"Soroosh","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Mbeleck","given":"Rene","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Xu","given":"Kaige","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Zhang","given":"Xingying","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Zhong","given":"Wen","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Xing","given":"Malcolm","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Bioactive Materials","id":"ITEM-2","issue":"2","issued":{"date-parts":[["2018","6","1"]]},"page":"144-156","publisher":"Elsevier","title":"3D bioprinting for biomedical devices and tissue engineering: A review of recent trends and advances","type":"article-journal","volume":"3"},"uris":[""]}],"mendeley":{"formattedCitation":"[7–8]","plainTextFormattedCitation":"[7–8]","previouslyFormattedCitation":"[7–8]"},"properties":{"noteIndex":0},"schema":""}[7–8]. Table SEQ Table \* ARABIC 1 Additive Manufacturing Methods ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"author":[{"dropping-particle":"","family":"Quarshie","given":"Robert","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"MacLachlan","given":"Stuart","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Reeves","given":"Phil","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Whittaker","given":"David","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Blake","given":"Robert","non-dropping-particle":"","parse-names":false,"suffix":""}],"id":"ITEM-1","issued":{"date-parts":[["2012"]]},"number-of-pages":"8","title":"Shaping our National Competency in Additive Manufacturing (AM SIG)","type":"report"},"uris":[""]}],"mendeley":{"formattedCitation":"[9]","plainTextFormattedCitation":"[9]","previouslyFormattedCitation":"[9]"},"properties":{"noteIndex":0},"schema":""}[9]-65405-79756000MATERIAL EXTRUSION – an additive manufacturing process in which material is selectively dispensed through a nozzle or orifice-584205461000MATERIAL JETTING – an additive manufacturing process in which droplets of build material are selectively deposited57153429000SHEET LAMINATION – builds three-dimensional models by stacking thin layers of material (usually paper-coated on one side with polyethylene which acts as a heat-sensitive adhesive) that are trimmed according to the desired shape, using a laser beam operated in conjunction with an x-y plotterTable 1 (cont.) Additive Manufacturing Methods [9]-65405-207200500VAT PHOTOPOLYMERIZATION – an additive manufacturing process in which a liquid photopolymer in a vat is selectively solidified by light-activated polymerization8890508000POWDER BED FUSION – an additive manufacturing process in which thermal energy selectively fuses regions of a powder bedDIRECTED ENERGY DEPOSITION – an additive manufacturing process in which focused thermal energy is used to fuse materials by melting as the material is being deposited-62230-192024000BINDER JETTING – an additive manufacturing process in which a liquid bonding agent is selectively deposited to join powder materialsThrough additive manufacturing, it is possible to produce an object of virtually any shape without the need of tooling ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1038/nature21003","ISBN":"1476-4687 (Electronic)\\r0028-0836 (Linking)","ISSN":"14764687","PMID":"27974748","abstract":"Light- and ink-based three-dimensional (3D) printing methods allow the rapid design and fabrication of materials without the need for expensive tooling, dies or lithographic masks. They have led to an era of manufacturing in which computers can control the fabrication of soft matter that has tunable mechanical, electrical and other functional properties. The expanding range of printable materials, coupled with the ability to programmably control their composition and architecture across various length scales, is driving innovation in myriad applications. This is illustrated by examples of biologically inspired composites, shape-morphing systems, soft sensors and robotics that only additive manufacturing can produce.","author":[{"dropping-particle":"","family":"Truby","given":"Ryan L.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Lewis","given":"Jennifer A.","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Nature","id":"ITEM-1","issued":{"date-parts":[["2016"]]},"title":"Printing soft matter in three dimensions","type":"article"},"uris":[""]},{"id":"ITEM-2","itemData":{"DOI":"10.1016/j.matpr.2017.11.642","ISSN":"22147853","author":[{"dropping-particle":"","family":"Prakash","given":"K. Satish","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Nancharaih","given":"T.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Rao","given":"V.V. Subba","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Materials Today: Proceedings","id":"ITEM-2","issue":"2","issued":{"date-parts":[["2018"]]},"page":"3873-3882","title":"Additive Manufacturing Techniques in Manufacturing -An Overview","type":"article-journal","volume":"5"},"uris":[""]}],"mendeley":{"formattedCitation":"[10–11]","plainTextFormattedCitation":"[10–11]","previouslyFormattedCitation":"[10–11]"},"properties":{"noteIndex":0},"schema":""}[10–11]. Complex objects can be produced in one single process step, eliminating production steps and accelerating time to market with marginally increasing production costs. Moreover, additive manufacturing disrupts the traditional supply chain, allowing for products to be produced closer to the point of use at the time of need, which limits material waste and improves both economies of scale and lead time ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1016/J.IJPE.2013.07.008","ISSN":"0925-5273","abstract":"As mass production has migrated to developing countries, European and US companies are forced to rapidly switch towards low volume production of more innovative, customised and sustainable products with high added value. To compete in this turbulent environment, manufacturers have sought new fabrication techniques to provide the necessary tools to support the need for increased flexibility and enable economic low volume production. One such emerging technique is Additive Manufacturing (AM). AM is a method of manufacture which involves the joining of materials, usually layer-upon-layer, to create objects from 3D model data. The benefits of this methodology include new design freedom, removal of tooling requirements, and economic low volumes. AM consists of various technologies to process versatile materials, and for many years its dominant application has been the manufacture of prototypes, or Rapid Prototyping. However, the recent growth in applications for direct part manufacture, or Rapid Manufacturing, has resulted in much research effort focusing on development of new processes and materials. This study focuses on the implementation process of AM and is motivated by the lack of socio-technical studies in this area. It addresses the need for existing and potential future AM project managers to have an implementation framework to guide their efforts in adopting this new and potentially disruptive technology class to produce high value products and generate new business opportunities. Based on a review of prior works and through qualitative case study analysis, we construct and test a normative structural model of implementation factors related to AM technology, supply chain, organisation, operations and strategy.","author":[{"dropping-particle":"","family":"Mellor","given":"Stephen","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Hao","given":"Liang","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Zhang","given":"David","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"International Journal of Production Economics","id":"ITEM-1","issued":{"date-parts":[["2014","3","1"]]},"page":"194-201","publisher":"Elsevier","title":"Additive manufacturing: A framework for implementation","type":"article-journal","volume":"149"},"uris":[""]}],"mendeley":{"formattedCitation":"[12]","plainTextFormattedCitation":"[12]","previouslyFormattedCitation":"[12]"},"properties":{"noteIndex":0},"schema":""}[12]. It also dramatically reduces the time between design creation and prototyping by reducing the effort and the scheduled impact caused by iterative design and by increasing organisational alignment to accelerate decision-making ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"","ISSN":"0040-1625","author":[{"dropping-particle":"","family":"Bogers","given":"Marcel","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Hadar","given":"Ronen","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Bilberg","given":"Arne","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Technological Forecasting and Social Change","id":"ITEM-1","issued":{"date-parts":[["2016"]]},"page":"225-239","title":"Additive manufacturing for consumer-centric business models: Implications for supply chains in consumer goods manufacturing","type":"article-journal","volume":"102"},"uris":[""]}],"mendeley":{"formattedCitation":"[13]","plainTextFormattedCitation":"[13]","previouslyFormattedCitation":"[13]"},"properties":{"noteIndex":0},"schema":""}[13]. Additive manufacturing has been successfully applied to a wide range of sectors including fashion, aerospace, aeronautics and defence, healthcare and construction ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1016/J.ENG.2018.07.020","ISSN":"2095-8099","abstract":"Many articles have been published on intelligent manufacturing, most of which focus on hardware, software, additive manufacturing, robotics, the Internet of Things, and Industry 4.0. This paper provides a different perspective by examining relevant challenges and providing examples of some less-talked-about yet essential topics, such as hybrid systems, redefining advanced manufacturing, basic building blocks of new manufacturing, ecosystem readiness, and technology scalability. The first major challenge is to (re-)define what the manufacturing of the future will be, if we wish to: ① raise public awareness of new manufacturing’s economic and societal impacts, and ② garner the unequivocal support of policy-makers. The second major challenge is to recognize that manufacturing in the future will consist of systems of hybrid systems of human and robotic operators; additive and subtractive processes; metal and composite materials; and cyber and physical systems. Therefore, studying the interfaces between constituencies and standards becomes important and essential. The third challenge is to develop a common framework in which the technology, manufacturing business case, and ecosystem readiness can be evaluated concurrently in order to shorten the time it takes for products to reach customers. Integral to this is having accepted measures of “scalability” of non-information technologies. The last, but not least, challenge is to examine successful modalities of industry–academia–government collaborations through public–private partnerships. This article discusses these challenges in detail.","author":[{"dropping-particle":"","family":"Wang","given":"Ben","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Engineering","id":"ITEM-1","issued":{"date-parts":[["2018","7","29"]]},"publisher":"Elsevier","title":"The Future of Manufacturing: A New Perspective","type":"article-journal"},"uris":[""]}],"mendeley":{"formattedCitation":"[14]","plainTextFormattedCitation":"[14]","previouslyFormattedCitation":"[14]"},"properties":{"noteIndex":0},"schema":""}[14]. Although recent developments show the increase use of AM systems for the fabrication of large-scale structures, most of the commercially available AM machines are three-axis Cartesian coordinate robots or gantry systems with limited construction platform dimensions ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1179/1743284715Y.0000000073","abstract":"Depositing large components (.10 kg) in titanium, aluminium, steel and other metals is possible using Wire ? Arc Additive Manufacturing. This technology adopts arc welding tools and wire as feedstock for additive manufacturing purposes. High deposition rates, low material and equipment costs, and good structural integrity make Wire ? Arc Additive Manufacturing a suitable candidate for replacing the current method of manufacturing from solid billets or large forgings, especially with regards to low and medium complexity parts. A variety of components have been successfully manufactured with this process, including Ti-6Al-4V spars and landing gear assemblies, aluminium wing ribs, steel wind tunnel models and cones. Strategies on how to manage residual stress, improve mechanical properties and eliminate defects such as porosity are suggested. Finally, the benefits of non-destructive testing, online monitoring and in situ machining are discussed.","author":[{"dropping-particle":"","family":"Williams","given":"S W","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Martina","given":"F","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Addison","given":"A C","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Ding","given":"J","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Pardal","given":"G","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Colegrove","given":"P","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Materials Science and Technology","id":"ITEM-1","issued":{"date-parts":[["2015"]]},"title":"Wire + Arc Additive Manufacturing","type":"article-journal"},"uris":[""]},{"id":"ITEM-2","itemData":{"ISBN":"9783800736010","abstract":"This paper presents a marketing survey and feasibility study on robotic Additive Manufacturing (AM) and its applications. The general trend and potential future of AM technologies have been reviewed and discussed. Open-form 3-D printing used in casting and architectural AM is the major focus. A rough survey on potential usages of AM in research and development as well as in production has been conducted and the result looks positive and encouraging. AM machine builders, service companies and end-users have been surveyed, visited, and interviewed. Various industrial robotic AM application cases have been presented and evaluated. The feasibility of robotic AM in different applications have been reviewed and discussed with focus on some typical applications. As a result of the study, a summary and conclusion has been given at the end of the paper, which shows the potential robotic business opportunities in the areas of both direct printing and post-processing of the additive manufactured parts. ? VDE VERLAG GMBH Berlin Offenbach.","author":[{"dropping-particle":"","family":"Zhang","given":"G Q","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Li","given":"X","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Boca","given":"R","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Newkirk","given":"J","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Zhang","given":"B","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Fuhlbrigge","given":"T a","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Feng","given":"H K","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Hunt","given":"N J","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Proceedings for the Joint Conference of ISR 2014 - 45th International Symposium on Robotics and Robotik 2014 - 8th German Conference on Robotics, ISR/ROBOTIK 2014","id":"ITEM-2","issued":{"date-parts":[["2014"]]},"title":"Use of industrial robots in additive manufacturing - A survey and feasibility study","type":"article-journal"},"uris":[""]}],"mendeley":{"formattedCitation":"[15–16]","plainTextFormattedCitation":"[15–16]","previouslyFormattedCitation":"[15–16]"},"properties":{"noteIndex":0},"schema":""}[15–16]. Depending on the object shape and dimensions, support structures can be required which is increasing the fabrication time, material consumption and fabrication costs ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1080/17452759.2013.778175","ISSN":"1745-2759","abstract":"Interest in multifunctional structures made automatically from multiple materials poses a challenge for today's additive manufacturing (AM) technologies; however the ability to process multiple materials is a fundamental advantage to some AM technologies. The capability to fabricate multiple material parts can improve AM technologies by either optimising the mechanical properties of the parts or providing additional functions to the final parts. The objective of this paper is to give an overview on the current state of the art of multiple material AM technologies and their practical applications. In this paper, multiple material AM processes have been classified and the principles of the key processes have been reviewed comprehensively. The advantages and disadvantages of each process, recent progress, challenging technological obstacles, the possible strategies to overcome these barriers, and future trends are also discussed.","author":[{"dropping-particle":"","family":"Vaezi","given":"Mohammad","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Chianrabutra","given":"Srisit","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Mellor","given":"Brian","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Yang","given":"Shoufeng","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Virtual and Physical Prototyping","id":"ITEM-1","issue":"1","issued":{"date-parts":[["2013","3"]]},"page":"19-50","publisher":" Taylor & Francis Group ","title":"Multiple material additive manufacturing – Part 1: a review","type":"article-journal","volume":"8"},"uris":[""]}],"mendeley":{"formattedCitation":"[17]","plainTextFormattedCitation":"[17]","previouslyFormattedCitation":"[17]"},"properties":{"noteIndex":0},"schema":""}[17]. Moreover, the three-axis additive manufacturing machines are associated with a strict layer-by-layer fabrication approach creating objects with a typical stair-step effect ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1016/j.procir.2017.01.046","author":[{"dropping-particle":"","family":"Wulle","given":"Frederik","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Coupek","given":"Daniel","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Sch?ffner","given":"Florian","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Verl","given":"Alexander","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Oberhofer","given":"Felix","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Maier","given":"Thomas","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Procedia CIRP","id":"ITEM-1","issued":{"date-parts":[["2017","12","31"]]},"number-of-pages":"229-234","title":"Workpiece and Machine Design in Additive Manufacturing for Multi-Axis Fused Deposition Modeling","type":"book","volume":"60"},"uris":[""]}],"mendeley":{"formattedCitation":"[18]","plainTextFormattedCitation":"[18]","previouslyFormattedCitation":"[18]"},"properties":{"noteIndex":0},"schema":""}[18].Apart from all the benefits and drawbacks of conventional additive manufacturing applications, multi-axis robot-manipulated manufacturing methods which are widely used for welding and pick-and-place tasks, offer better quality and consistency, maximum productivity, greater safety for repetitive tasks and reduced labour costs ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1109/IECON.2013.6699815","ISBN":"978-1-4799-0224-8","author":[{"dropping-particle":"","family":"Neto","given":"Pedro","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society","id":"ITEM-1","issued":{"date-parts":[["2013","11"]]},"page":"4235-4240","publisher":"IEEE","title":"Off-line programming and simulation from CAD drawings: Robot-assisted sheet metal bending","type":"paper-conference"},"uris":[""]},{"id":"ITEM-2","itemData":{"DOI":"10.1016/j.procir.2015.12.129","ISSN":"22128271","abstract":"Many manufacturing industries especially small and medium size (SMEs) industries are reluctant to automatize their production using robots. This is due to the fact that mostly industrial robots are not properly equipped to recognize their surrounding and take intelligent decisions regarding path planning especially for low volume, flexible production with versatile production lines. The proposed idea is that a robot manipulator performing assembly or disassembly tasks should be able to predict potential collisions even with unknown obstacles and must be able to prevent i.e. react automatically for safe detour around obstacle. Currently, industrial robots have tactile sensing abilities, which detect collisions after a real contact but the existing proposals for its avoidance are either computationally expensive, need prior information about the obstacles or not very well adapted to the safety standards. Therefore, this paper introduces a ToF sensor based information collection and intelligent decision methodology in order to localize the un-known, un-programmed obstacles and propose a safe peg-in-hole automated assembly process. In the case of collisions, the proposed method will provide various solutions and decides for the best solution according to the scenario on-hand. The proposed solution is quick and robust and currently applied for static environment, whereas dynamic obstacles will be treated in future.","author":[{"dropping-particle":"","family":"Ahmad","given":"Rafiq","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Plapper","given":"Peter","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Procedia CIRP","id":"ITEM-2","issued":{"date-parts":[["2016"]]},"title":"Safe and Automated Assembly Process using Vision Assisted Robot Manipulator","type":"paper-conference"},"uris":[""]},{"id":"ITEM-3","itemData":{"DOI":"10.1016/j.procir.2016.02.107","ISBN":"4953139135","ISSN":"22128271","abstract":"The robot-assisted manufacturing is introduced for many years in automated production areas, while the production of buildings still follows the traditional manual process. Using new possibilities of digital planning the construction industry demonstrated potential for the implementation of freeform architectures, which are only possible using expensive and only once usable formwork structures. This paper focuses on sprayed concrete technology for automated production processes to build up freeform concrete components. A study case of the production of a concrete wall by an industrial robot, equipped with a concrete spraying tool is presented in order to investigate the possibilities and tolerancing issues of this technique.","author":[{"dropping-particle":"","family":"Neudecker","given":"Stefan","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Bruns","given":"Christopher","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Gerbers","given":"Roman","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Heyn","given":"Jakob","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Dietrich","given":"Franz","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Dr?der","given":"Klaus","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Raatz","given":"Annika","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Kloft","given":"Harald","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Procedia CIRP","id":"ITEM-3","issued":{"date-parts":[["2016"]]},"title":"A New Robotic Spray Technology for Generative Manufacturing of Complex Concrete Structures Without Formwork","type":"paper-conference"},"uris":[""]}],"mendeley":{"formattedCitation":"[19–21]","plainTextFormattedCitation":"[19–21]","previouslyFormattedCitation":"[19–21]"},"properties":{"noteIndex":0},"schema":""}[19–21]. The flexible functionality of robots serves the dynamic demands of manufacturing ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1016/J.CIRP.2010.03.044","ISSN":"0007-8506","abstract":"In manufacturing, where the wages of operators are high and the availability of expert operators remains limited, it is proving impossible to improve the efficiency of cell production assembly systems. Even novice operators are asked to achieve high levels of productivity and reliability with a diverse range of products. To satisfy this demand, the authors have developed a new cell production assembly system with human–robot cooperation. This system consists of three key technologies; parts feeding by double manipulators on a mobile base, production process information support for the operator, and safety management for cooperation between the operator and the robot.","author":[{"dropping-particle":"","family":"Morioka","given":"M.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Sakakibara","given":"S.","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"CIRP Annals","id":"ITEM-1","issue":"1","issued":{"date-parts":[["2010","1","1"]]},"page":"9-12","publisher":"Elsevier","title":"A new cell production assembly system with human–robot cooperation","type":"article-journal","volume":"59"},"uris":[""]}],"mendeley":{"formattedCitation":"[22]","plainTextFormattedCitation":"[22]","previouslyFormattedCitation":"[22]"},"properties":{"noteIndex":0},"schema":""}[22].The combined use of multi-axis robot systems and additive manufacturing technologies offers the possibility for multi-axis additive manufacturing and the fabrication of complex geometries in different manufacturing environments. This review paper discusses the concept of multi-axis robot assisted additive manufacturing. This is an emergent area significantly growing. The leading printing principles that can be used with a robotic system are presented and discussed in detail. The information flow required to produce an object from a CAD model through a robotic-assisted system, different from the traditional information flow in a conventional additive manufacturing approach is also detailed. Examples of the use of robotic-assisted additive manufacturing systems are presented. Finally, research challenges and future perspectives are presented and discussed.Extrusion-based ProcessMaterial extrusion is an additive manufacturing technique in which material is selectively deposited through a nozzle or orifice ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1007/s40964-016-0007-6","ISSN":"2363-9512","author":[{"dropping-particle":"","family":"Freitas","given":"Dino","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Almeida","given":"Henrique A.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Bártolo","given":"Helena","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Bártolo","given":"Paulo J.","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Progress in Additive Manufacturing","id":"ITEM-1","issue":"1-2","issued":{"date-parts":[["2016","6","19"]]},"page":"65-78","publisher":"Springer International Publishing","title":"Sustainability in extrusion-based additive manufacturing technologies","type":"article-journal","volume":"1"},"uris":[""]}],"mendeley":{"formattedCitation":"[23]","plainTextFormattedCitation":"[23]","previouslyFormattedCitation":"[23]"},"properties":{"noteIndex":0},"schema":""}[23]. This technology developed by Scott Crump under the name of Fused Deposition Modelling (FDM) creates parts by extruding material (normally a thermoplastic polymer in a filament form) through a nozzle controlled by a computer into an XY platform ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"ISBN":"5,121,329","abstract":"Apparatus incorporating a movable dispensing head provided with a supply of material which solidi?es at a predetermined temperature, and a base member, which are moved relative to each other along “X,” “Y,” and “Z” axes in a predetermined pattern to create three-di mensional objects by building up material discharged from the dispensing head onto the base member at a controlled rate. The apparatus is preferably computer driven in a process utilizing computer aided design (CAD) and computer-aided (CAM) software to gener ate drive signals for controlled movement of the dis pensing head and base member as material is being dis pensed. Three-dimensional objects may be produced by deposit ing repeated layers of solidifying material until the shape is formed. Any material, such as self-hardening waxes, thermoplastic resins, molten metals, two-part epoxies, foaming plastics, and glass, which adheres to the previous layer with an adequate bond upon solidi? cation, may be utilized. Each layer base is de?ned by the previous layer, and each layer thickness is de?ned and closely controlled by the height at which the tip of the dispensing head is positioned above the preceding layer.","author":[{"dropping-particle":"","family":"Crump","given":"S. Scott","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"US Patent 5,121,329","id":"ITEM-1","issued":{"date-parts":[["1992"]]},"title":"Apparatus and Method for Creating Three-Dimensional Objects","type":"article-journal"},"uris":[""]}],"mendeley":{"formattedCitation":"[24]","plainTextFormattedCitation":"[24]","previouslyFormattedCitation":"[24]"},"properties":{"noteIndex":0},"schema":""}[24]. After Crump’s initial work the technique was further developed being able to process materials not only in a filament form but also in a pallet form ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1007/978-1-4939-2113-3","ISBN":"978-1-4939-2112-6","ISSN":"0717-6163","PMID":"15003161","abstract":"This book covers in detail the various aspects of joining materials to form parts. A conceptual overview of rapid prototyping and layered manufacturing is given, beginning with the fundamentals so that readers can get up to speed quickly. Unusual and emerging applications such as micro-scale manufacturing, medical applications, aerospace, and rapid manufacturing are also discussed. This book provides a comprehensive overview of rapid prototyping technologies as well as support technologies such as software systems, vacuum casting, investment casting, plating, infiltration and other systems. This book also: Reflects recent developments and trends and adheres to the ASTM, SI, and other standards Includes chapters on automotive technology, aerospace technology and low-cost AM technologies Provides a broad range of technical questions to ensure comprehensive understanding of the concepts covered.","author":[{"dropping-particle":"","family":"Gibson","given":"Ian","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Rosen","given":"David","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Stucker","given":"Brent","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Additive Manufacturing Technologies: 3D Printing, Rapid Prototyping, and Direct Digital Manufacturing, Second Edition","id":"ITEM-1","issued":{"date-parts":[["2015"]]},"title":"Additive Manufacturing Technologies","type":"book"},"uris":[""]}],"mendeley":{"formattedCitation":"[2]","plainTextFormattedCitation":"[2]","previouslyFormattedCitation":"[2]"},"properties":{"noteIndex":0},"schema":""}[2]. Currently, the extrusion heads are classified as pressure-assisted and screw-assisted techniques enabling to print a wide range of polymeric materials, polymer-based composites, concrete, food and biological materials ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1016/J.ADDMA.2017.06.006","ISSN":"2214-8604","abstract":"As more manufacturing processes and research institutions adopt customized manufacturing as a key element in their design strategies and finished products, the resulting mechanical properties of parts produced through additive manufacturing (AM) must be characterized and understood. In polymer extrusion (PE), the most recently extruded polymer filament must bond to the previously extruded filament via polymer diffusion to form a “weld”. The strength of the weld limits the performance of the manufactured part and is controlled through processing conditions. Understanding the role of processing conditions, specifically extruder velocity and extruder temperature, on the overall strength of the weld will allow optimization of PE-AM parts. Here, the fracture toughness of a single weld is determined through a facile “trouser tear” Mode III fracture experiment. The actual weld thickness is observed directly by optical microscopy (OM) characterization of cross sections of PE-AM samples. Representative data of weld strength as a function of printing parameters on a commercial 3D printer demonstrates the robustness of the method.","author":[{"dropping-particle":"","family":"Davis","given":"Chelsea S.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Hillgartner","given":"Kaitlyn E.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Han","given":"Seung Hoon","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Seppala","given":"Jonathan E.","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Additive Manufacturing","id":"ITEM-1","issued":{"date-parts":[["2017","8","1"]]},"page":"162-166","publisher":"Elsevier","title":"Mechanical strength of welding zones produced by polymer extrusion additive manufacturing","type":"article-journal","volume":"16"},"uris":[""]},{"id":"ITEM-2","itemData":{"DOI":"","ISSN":"0736-5845","author":[{"dropping-particle":"","family":"Jin","given":"Yuan","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"He","given":"Yong","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Fu","given":"Guoqiang","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Zhang","given":"Aibing","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Du","given":"Jianke","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Robotics and Computer-Integrated Manufacturing","id":"ITEM-2","issued":{"date-parts":[["2017"]]},"page":"132-144","title":"A non-retraction path planning approach for extrusion-based additive manufacturing","type":"article-journal","volume":"48"},"uris":[""]}],"mendeley":{"formattedCitation":"[25–26]","plainTextFormattedCitation":"[25–26]","previouslyFormattedCitation":"[25–26]"},"properties":{"noteIndex":0},"schema":""}[25–26]. The majority of robotic-assisted extrusion-based systems are being used to produce freeform organic shapes, building construction elements for design purpose and usually large objects. Table 2 summarises the main materials and printing principles used by robot-assisted extrusion additive manufacturing.Table 2 Robotic-assisted Extrusion Based SystemsProject NamePrimary MaterialsPrinting PrinciplesRobotic additive manufacturing process simulation ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1109/COASE.2016.7743457","ISBN":"9781509024094","ISSN":"21618089","abstract":"Additive manufacturing (AM) provides an opportunity to a new design concept in which the manufacturing constrain is released. The engineering design and optimization can include part building parameters to take the advantages of additive manufacturing or 3D printing technology. This paper presents a robotic additive manufacturing process simulation method which pushes one step further in the direction of design and analysis of AM part with building parameters in consideration. A virtual part with design geometry and building bead from Fused Deposition Modeling (FDM) technology is presented in a robotic simulation software platform-RobotStudio. The part building path and bead size can be tuned based on the AM path, FDM equipment, robot model, extrusion head types, and configuration as well as building temperature and material properties. Future work in this direction is also proposed and discussed. ? 2016 IEEE.","author":[{"dropping-particle":"","family":"Zhang","given":"George Q.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Spaak","given":"Anders","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Martinez","given":"Carlos","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Lasko","given":"Daniel T.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Zhang","given":"Biao","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Fuhlbrigge","given":"Thomas A.","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"IEEE International Conference on Automation Science and Engineering","id":"ITEM-1","issued":{"date-parts":[["2016"]]},"title":"Robotic additive manufacturing process simulation-towards design and analysis with building parameter in consideration","type":"paper-conference"},"uris":[""]}],"mendeley":{"formattedCitation":"[27]","plainTextFormattedCitation":"[27]","previouslyFormattedCitation":"[27]"},"properties":{"noteIndex":0},"schema":""}[27]Filament form polymer6 DOF ABB robot arm coupled extrusion printing headRoboFDM: A robotic system for support free fabrication ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1109/ICRA.2017.7989140","ISBN":"VO -","ISSN":"10504729","abstract":"— This paper presents a robotic system – RoboFDM that targets at printing 3D models without support-structures, which is considered as the major restriction to the flexibility of 3D printing. The hardware of RoboFDM consists of a robotic arm providing 6-DOF motion to the platform of material accumulation and an extruder forming molten filaments of polylactic acid (PLA). The fabrication of 3D models in this system follows the principle of fused decomposition modeling (FDM). Different from conventional FDM, an input model fabricated by RoboFDM is printed along different directions at different places. A new algorithm is developed to decompose models into support-free parts that can be printed one by one in a collision-free sequence. The printing directions of all parts are also determined during the computation of model decomposition. Experiments have been successfully taken on our RoboFDM system to print general freeform objects in a support-free manner.","author":[{"dropping-particle":"","family":"Wu","given":"Chenming","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Dai","given":"Chengkai","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Fang","given":"Guoxin","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Liu","given":"Yong Jin","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Wang","given":"Charlie C.L. L","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"2017 IEEE International Conference on Robotics and Automation (ICRA)","id":"ITEM-1","issued":{"date-parts":[["2017"]]},"page":"1175-1180","title":"RoboFDM: A robotic system for support-free fabrication using FDM","type":"paper-conference"},"uris":[""]}],"mendeley":{"formattedCitation":"[28]","plainTextFormattedCitation":"[28]","previouslyFormattedCitation":"[28]"},"properties":{"noteIndex":0},"schema":""}[28]Filament form polylactic acid (PLA)6 DOF UR3 robot arm coupled with extrusion headTable 2 (cont.) Robotic-assisted Extrusion Based SystemsProject NamePrimary MaterialsPrinting PrinciplesInfundibuliforms: Kinetic systems ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"ISBN":"9781787350007","abstract":"The work of theInfundibuliformsproject aims to advance research in lightweight kinetic surfaces as systems that have the ability to create spatial enclosures with minimal amounts of material and that are capable of dynamic reconfiguration. This paper describes the iterative research and full-scale prototype evaluation of a cable-robot-actuated, geometrically deformable elastic net that has been developed through close coupling between geometric explorations in computational spring-based physics solvers and experimental additive manufacturing techniques for net- or mesh-based structures. The title of the project refers to the catenoid forms that define the geometry of a surface; the term ‘infundibula’ is most","author":[{"dropping-particle":"","family":"Mcgee","given":"Wes","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Velikov","given":"Kathy","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Thun","given":"Geoffrey","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Dan","given":"Tish","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Fabricate 2017","editor":[{"dropping-particle":"","family":"MENGES","given":"ACHIM","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"SHEIL","given":"B O B","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"GLYNN","given":"RUAIRI","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"SKAVARA","given":"MARILENA","non-dropping-particle":"","parse-names":false,"suffix":""}],"id":"ITEM-1","issued":{"date-parts":[["2017"]]},"page":"84-91","publisher":"UCL Press","publisher-place":"London","title":"Infundibuliforms: Kinetic Systems, Additive Manufacturing For Cable Nets and Tensile Surface Control","type":"chapter"},"uris":[""]}],"mendeley":{"formattedCitation":"[29]","plainTextFormattedCitation":"[29]","previouslyFormattedCitation":"[29]"},"properties":{"noteIndex":0},"schema":""}[29]Pallet form of plastic and rubber mixture (Thermoplastic elastomer-TPE)7-axis KUKA robot arm coupled with screw assisted extruderMaterially informed design to robotic manufacturing ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1007/978-3-319-26378-6_27","ISBN":"978-3-319-04662-4","ISSN":"1098-6596","PMID":"25246403","abstract":"The prototype presented in this chapter utilizes the technique of curved folding for the design of a thin-shell structure built from curved cross-laminated timber panels (CLT). The curved-folded geometry allows for a span of 13.5 m, at a shell thickness of only 77 mm. The construction requires curved line CLT joints, which are difficult to address with state-of-the-art jointing techniques for CLT. Inspired by traditional woodworking joinery, we have designed connections for the integrated attachment of curved CLT panels, utilizing digital geometry processing tools to combine the advantages of traditional joinery techniques with those of modern automation technology.","author":[{"dropping-particle":"","family":"Mostafavi","given":"Sina","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Bier","given":"Henriette","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Robotic Fabrication in Architecture, Art and Design 2016","id":"ITEM-1","issued":{"date-parts":[["2016"]]},"title":"Materially Informed Design to Robotic Production: A Robotic 3D Printing System for Informed Material Deposition","type":"chapter"},"uris":[""]}],"mendeley":{"formattedCitation":"[30]","plainTextFormattedCitation":"[30]","previouslyFormattedCitation":"[30]"},"properties":{"noteIndex":0},"schema":""}[30]Clay and ceramic mixtureABB robot arm coupled with extruder headAnti-Gravity Additive Manufacturing ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"ISBN":"null","abstract":"Over the past several decades, the transition from analogue to digital has revolutionised many fields, most notably the distribution of information, computing and social media. 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State-of-the-art rapid additive manufacturing (RAM) - specifically fused filament fabrication (FFF) - has gained popularity among architects, engineers and designers for the quick prototyping of technical devices, the rapid production of small series and even the construction scale fabrication of architectural elements. The spectrum of producible shapes and the resolution of detail, however, are determined and constrained by the layer-based nature of the fabrication process. These aspects significantly limit FFF-based approaches for the prefabrication and in situ fabrication of free-form shells at the architectural scale. Snails exhibit a shell building process that suggests ways to overcome these limits. They produce a soft, pliable proteinaceous film - the periostracum - which later hardens and serves, among other functions, as a form-giving surface for an inner calcium carbonate layer. Snail shell formation is interpreted from a technical point of view to extract potentially useful aspects for a biomimetic transfer. A RAM concept for the continuous extrusion of thin free-form composite shells inspired by the snail shell formation is presented.","author":[{"dropping-particle":"","family":"Felbrich","given":"B.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Wulle","given":"F.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Allgaier","given":"C.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Menges","given":"A.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Verl","given":"A.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Wurst","given":"K. 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A computational tool was developed to design and fabricate functionally graded building components. The material composition was defined based on voxel determination in order to design building elements with varying material stiffness. A cement-based conceptual building wall was investigated with a varied material composition, using two different lightweight aggregates, a granulated cork one and the other with expanded clay. This functionally graded material concept applied to lightweight building components will allow producing resource-efficient graded building components tailored to specific loading conditions, minimizing waste generation, emissions and resource consumption.","author":[{"dropping-particle":"","family":"Craveiro","given":"F.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Bartolo","given":"H. 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Through research on the process of a spider’s behavior, e.g., spinning and weaving, the designers simulate natural construction principles and apply them to the optimization of traditional 3D printing techniques. A 6-axis robot is programmed to carry a customized printing end effector to create free-standing geometries in space. The structural behavior of the design is optimized through the consistent negotiation between material analysis and structural simulation in both virtual and physical environment, together with the implementation of sensor input and real-time feedback between construction tools and simulation interfaces. The printing tools are designed with additional extruders and nozzles of various dimensions to adapt to different materials and design requirements. In this way, a flexible and adaptive additive manufacturing methodology is established, which integrates the material and structural information with design initiatives. Displaying a high degree of spatial and structural complexity, the alliance between 3D printing and robotic technology opens new possibilities to sophisticated architectural structures.","author":[{"dropping-particle":"","family":"Yuan","given":"Philip F","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Meng","given":"Hao","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Yu","given":"Lei","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Zhang","given":"Liming","non-dropping-particle":"","parse-names":false,"suffix":""}],"editor":[{"dropping-particle":"","family":"Reinhardt","given":"Dagmar","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Saunders","given":"Rob","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Burry","given":"Jane","non-dropping-particle":"","parse-names":false,"suffix":""}],"id":"ITEM-1","issued":{"date-parts":[["2016"]]},"page":"92-105","publisher":"Springer International Publishing","publisher-place":"Cham","title":"Robotic Multi-dimensional Printing Based on Structural Performance BT - Robotic Fabrication in Architecture, Art and Design 2016","type":"chapter"},"uris":[""]}],"mendeley":{"formattedCitation":"[35]","plainTextFormattedCitation":"[35]","previouslyFormattedCitation":"[35]"},"properties":{"noteIndex":0},"schema":""}[35]ABS plastic6-axis KUKA robot arm coupled with an extruder head with multiple nozzlesLarge scale 3D printing ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"URL":"","accessed":{"date-parts":[["2018","6","11"]]},"author":[{"dropping-particle":"","family":"Jin, S., Maggs, S., Sadan, D. and Nan","given":"C","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"IAAC","id":"ITEM-1","issued":{"date-parts":[["2013"]]},"title":"Minibuilders by the Institute for Advanced Architecture of Catalonia","type":"webpage"},"uris":[""]}],"mendeley":{"formattedCitation":"[36]","plainTextFormattedCitation":"[36]","previouslyFormattedCitation":"[36]"},"properties":{"noteIndex":0},"schema":""}[36]ConcreteSmall mobile robots and a lightweight extrusion systemMobile robotic fabrication ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"ISBN":"9781787350007","abstract":"In the past decade, robotic fabrication in the field of architecture has developed rapidly, opening up new possibilities for architecture and design. New fabrication techniques allow the utilisation of materials like fibre composites in the field of architectural construction by employing qualities of the material that were previously not feasible. However, the equipment used for material exploration in the field is often standard industrial machines, originally designed for assembly line applications, which have scale and process limitations. Introducing a new generation of mobile construction machines capable of operating onsite would allow expansion of the capabilities of currently developed fibre composite","author":[{"dropping-particle":"","family":"Yablonina","given":"Maria","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Prado","given":"Marshall","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Baharlou","given":"Ehsan","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Schwinn","given":"Tobias","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Fabricate 2017","editor":[{"dropping-particle":"","family":"MENGES","given":"ACHIM","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"SHEIL","given":"B O B","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"GLYNN","given":"RUAIRI","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"SKAVARA","given":"MARILENA","non-dropping-particle":"","parse-names":false,"suffix":""}],"id":"ITEM-1","issued":{"date-parts":[["2017"]]},"page":"202-209","publisher":"UCL Press","title":"Mobile Robotic Fabrication System For Filament Structures","type":"chapter"},"uris":[""]}],"mendeley":{"formattedCitation":"[37]","plainTextFormattedCitation":"[37]","previouslyFormattedCitation":"[37]"},"properties":{"noteIndex":0},"schema":""}[37]Filament form fibre compositeSmall mobile robots and a lightweight extrusion systemLarge scale printing with cable-suspended robot ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"","ISSN":"2214-8604","abstract":"Although additive manufacturing (AM) is now a well-established industry, very few large-scale AM systems have been developed. Here, a large-scale 3D printer is introduced, which uses a six-degree-of-freedom cable-suspended robot for positioning, with polyurethane foam as the object material and shaving foam as the support material. Cable-positioning systems provide large ranges of motion and cables can be compactly wound on spools, making them less expensive, much lighter, more transportable, and more easily reconfigurable, compared to the gantry-type positioning systems traditionally used in 3D printing. The 3D foam printer performance is demonstrated through the construction of a 2.16-m-high statue of Sir Wilfrid Laurier, the seventh Prime Minister of Canada, at an accuracy of approximately 1cm, which requires 38h of printing time. The system advantages and drawbacks are then discussed, and novel features such as unique support techniques and geometric feedback are highlighted. Finally, a description of the planned system modifications is provided.","author":[{"dropping-particle":"","family":"Barnett","given":"Eric","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Gosselin","given":"Clément","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Additive Manufacturing","id":"ITEM-1","issued":{"date-parts":[["2015"]]},"page":"27-44","title":"Large-scale 3D printing with a cable-suspended robot","type":"article-journal","volume":"7"},"uris":[""]}],"mendeley":{"formattedCitation":"[38]","plainTextFormattedCitation":"[38]","previouslyFormattedCitation":"[38]"},"properties":{"noteIndex":0},"schema":""}[38]Polyurethane foam6 DOF Cable suspended robot Zhang et al. ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1109/COASE.2016.7743457","ISBN":"9781509024094","ISSN":"21618089","abstract":"Additive manufacturing (AM) provides an opportunity to a new design concept in which the manufacturing constrain is released. The engineering design and optimization can include part building parameters to take the advantages of additive manufacturing or 3D printing technology. This paper presents a robotic additive manufacturing process simulation method which pushes one step further in the direction of design and analysis of AM part with building parameters in consideration. A virtual part with design geometry and building bead from Fused Deposition Modeling (FDM) technology is presented in a robotic simulation software platform-RobotStudio. The part building path and bead size can be tuned based on the AM path, FDM equipment, robot model, extrusion head types, and configuration as well as building temperature and material properties. Future work in this direction is also proposed and discussed. ? 2016 IEEE.","author":[{"dropping-particle":"","family":"Zhang","given":"George Q.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Spaak","given":"Anders","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Martinez","given":"Carlos","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Lasko","given":"Daniel T.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Zhang","given":"Biao","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Fuhlbrigge","given":"Thomas A.","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"IEEE International Conference on Automation Science and Engineering","id":"ITEM-1","issued":{"date-parts":[["2016"]]},"title":"Robotic additive manufacturing process simulation-towards design and analysis with building parameter in consideration","type":"paper-conference"},"uris":[""]}],"mendeley":{"formattedCitation":"[27]","plainTextFormattedCitation":"[27]","previouslyFormattedCitation":"[27]"},"properties":{"noteIndex":0},"schema":""}[27] used an ABB robot to control a filament-based extrusion printing head (Figure 1a). A computational platform called Robot Studio (developed by ABB) was used to allow process fabrication simulation, optimisation and visualisation (Figure 1b). ABS parts were produced (Figure 1c), but the system can be extended to other materials such as the use of carbon fibres to produce composite parts. Similarly, Wu et al. ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1109/ICRA.2017.7989140","ISBN":"VO -","ISSN":"10504729","abstract":"— This paper presents a robotic system – RoboFDM that targets at printing 3D models without support-structures, which is considered as the major restriction to the flexibility of 3D printing. The hardware of RoboFDM consists of a robotic arm providing 6-DOF motion to the platform of material accumulation and an extruder forming molten filaments of polylactic acid (PLA). The fabrication of 3D models in this system follows the principle of fused decomposition modeling (FDM). Different from conventional FDM, an input model fabricated by RoboFDM is printed along different directions at different places. A new algorithm is developed to decompose models into support-free parts that can be printed one by one in a collision-free sequence. The printing directions of all parts are also determined during the computation of model decomposition. Experiments have been successfully taken on our RoboFDM system to print general freeform objects in a support-free manner.","author":[{"dropping-particle":"","family":"Wu","given":"Chenming","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Dai","given":"Chengkai","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Fang","given":"Guoxin","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Liu","given":"Yong Jin","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Wang","given":"Charlie C.L. L","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"2017 IEEE International Conference on Robotics and Automation (ICRA)","id":"ITEM-1","issued":{"date-parts":[["2017"]]},"page":"1175-1180","title":"RoboFDM: A robotic system for support-free fabrication using FDM","type":"paper-conference"},"uris":[""]}],"mendeley":{"formattedCitation":"[28]","plainTextFormattedCitation":"[28]","previouslyFormattedCitation":"[28]"},"properties":{"noteIndex":0},"schema":""}[28] used the 6-DOF UR3 robotic arm to produce polymeric parts from polylactic acid (PLA) in a filament form, with minimal or no support structures. A computational tool was developed in C++ to decompose the models into multiple support-free sub-models, printed in a collision-free sequence. Printing directions are determined by the software based on the decomposition strategy. Figure SEQ Figure \* ARABIC 1 a) Filament-based printing head controlled by an ABB robotic arm; b) RobotStudio platform; c) Printed polymeric part ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1109/COASE.2016.7743457","ISBN":"9781509024094","ISSN":"21618089","abstract":"Additive manufacturing (AM) provides an opportunity to a new design concept in which the manufacturing constrain is released. The engineering design and optimization can include part building parameters to take the advantages of additive manufacturing or 3D printing technology. This paper presents a robotic additive manufacturing process simulation method which pushes one step further in the direction of design and analysis of AM part with building parameters in consideration. A virtual part with design geometry and building bead from Fused Deposition Modeling (FDM) technology is presented in a robotic simulation software platform-RobotStudio. The part building path and bead size can be tuned based on the AM path, FDM equipment, robot model, extrusion head types, and configuration as well as building temperature and material properties. Future work in this direction is also proposed and discussed. ? 2016 IEEE.","author":[{"dropping-particle":"","family":"Zhang","given":"George Q.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Spaak","given":"Anders","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Martinez","given":"Carlos","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Lasko","given":"Daniel T.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Zhang","given":"Biao","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Fuhlbrigge","given":"Thomas A.","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"IEEE International Conference on Automation Science and Engineering","id":"ITEM-1","issued":{"date-parts":[["2016"]]},"title":"Robotic additive manufacturing process simulation-towards design and analysis with building parameter in consideration","type":"paper-conference"},"uris":[""]}],"mendeley":{"formattedCitation":"[27]","plainTextFormattedCitation":"[27]","previouslyFormattedCitation":"[27]"},"properties":{"noteIndex":0},"schema":""}[27]Researchers from The University of Michigan (USA) used a robotic extrusion system to create a monolithic elastic net using a thermoplastic elastomer (TPE). The screw assisted extruder head was mounted on a seven-axis KUKA robot and the material, contrary to a FDM-like system, was supplied in the form of pallets providing high versatility in terms of the range of materials to be used, features definitions and material properties (Figure 2). The system was developed as part of the Infundibuliforms project aiming to develop lightweight kinetic surfaces to create reconfigurable spatial enclosures with minimal amounts of material ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"ISBN":"9781787350007","abstract":"The work of theInfundibuliformsproject aims to advance research in lightweight kinetic surfaces as systems that have the ability to create spatial enclosures with minimal amounts of material and that are capable of dynamic reconfiguration. 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The title of the project refers to the catenoid forms that define the geometry of a surface; the term ‘infundibula’ is most","author":[{"dropping-particle":"","family":"Mcgee","given":"Wes","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Velikov","given":"Kathy","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Thun","given":"Geoffrey","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Dan","given":"Tish","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Fabricate 2017","editor":[{"dropping-particle":"","family":"MENGES","given":"ACHIM","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"SHEIL","given":"B O B","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"GLYNN","given":"RUAIRI","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"SKAVARA","given":"MARILENA","non-dropping-particle":"","parse-names":false,"suffix":""}],"id":"ITEM-1","issued":{"date-parts":[["2017"]]},"page":"84-91","publisher":"UCL Press","publisher-place":"London","title":"Infundibuliforms: Kinetic Systems, Additive Manufacturing For Cable Nets and Tensile Surface Control","type":"chapter"},"uris":[""]}],"mendeley":{"formattedCitation":"[29]","plainTextFormattedCitation":"[29]","previouslyFormattedCitation":"[29]"},"properties":{"noteIndex":0},"schema":""}[29]. The high degree of freedom of the robotic systems allows the fabrication of complex objects without support structures, which improves accuracy, reduces post processing steps and minimises material waste. Other relevant examples include parts produced by the ABB-Robotstudio project (Figure 3a) ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1007/978-3-319-26378-6_27","ISBN":"978-3-319-04662-4","ISSN":"1098-6596","PMID":"25246403","abstract":"The prototype presented in this chapter utilizes the technique of curved folding for the design of a thin-shell structure built from curved cross-laminated timber panels (CLT). The curved-folded geometry allows for a span of 13.5 m, at a shell thickness of only 77 mm. The construction requires curved line CLT joints, which are difficult to address with state-of-the-art jointing techniques for CLT. Inspired by traditional woodworking joinery, we have designed connections for the integrated attachment of curved CLT panels, utilizing digital geometry processing tools to combine the advantages of traditional joinery techniques with those of modern automation technology.","author":[{"dropping-particle":"","family":"Mostafavi","given":"Sina","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Bier","given":"Henriette","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Robotic Fabrication in Architecture, Art and Design 2016","id":"ITEM-1","issued":{"date-parts":[["2016"]]},"title":"Materially Informed Design to Robotic Production: A Robotic 3D Printing System for Informed Material Deposition","type":"chapter"},"uris":[""]}],"mendeley":{"formattedCitation":"[30]","plainTextFormattedCitation":"[30]","previouslyFormattedCitation":"[30]"},"properties":{"noteIndex":0},"schema":""}[30] and by the Institute for Advanced Architecture of Catalonia (Spain) ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"ISBN":"null","abstract":"Over the past several decades, the transition from analogue to digital has revolutionised many fields, most notably the distribution of information, computing and social media. The digital era not only changed the way we communicate, socialise, organise people around ideas, or even disseminate critical information across national and political lines, thus provoking political change, it is now also starting to define an evolution in the way we finance, manufacture, distribute, sell and also recycle products in the physical world.? 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In the later case, the system operates with thermosetting polymers and the printing head comprises two reservoirs containing two different chemical materials that are pumped into a mixing nozzle prior extrusion. During the mixing process, the two materials start a chemical reaction increasing its viscosity. Similarly, researchers from the Politecnico Di Milano (Italy) inspired by the pultrusion technique to create composite structures, used a six-axis robotic arm to print continuous fibres pre-impregnated with a thermosetting resin. The curing process of the resin is performed by applying light using an optical fibre attached to the robotic arm. 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The curved-folded geometry allows for a span of 13.5 m, at a shell thickness of only 77 mm. The construction requires curved line CLT joints, which are difficult to address with state-of-the-art jointing techniques for CLT. Inspired by traditional woodworking joinery, we have designed connections for the integrated attachment of curved CLT panels, utilizing digital geometry processing tools to combine the advantages of traditional joinery techniques with those of modern automation technology.","author":[{"dropping-particle":"","family":"Mostafavi","given":"Sina","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Bier","given":"Henriette","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Robotic Fabrication in Architecture, Art and Design 2016","id":"ITEM-1","issued":{"date-parts":[["2016"]]},"title":"Materially Informed Design to Robotic Production: A Robotic 3D Printing System for Informed Material Deposition","type":"chapter"},"uris":[""]}],"mendeley":{"formattedCitation":"[30]","plainTextFormattedCitation":"[30]","previouslyFormattedCitation":"[30]"},"properties":{"noteIndex":0},"schema":""}[30] b) Thermosetting polymer printing ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"ISBN":"null","abstract":"Over the past several decades, the transition from analogue to digital has revolutionised many fields, most notably the distribution of information, computing and social media. The digital era not only changed the way we communicate, socialise, organise people around ideas, or even disseminate critical information across national and political lines, thus provoking political change, it is now also starting to define an evolution in the way we finance, manufacture, distribute, sell and also recycle products in the physical world.? In its turn, the digitalisation of production not only allowed the automation of existing manufacturing techniques, it also brought in new","author":[{"dropping-particle":"","family":"Laarman","given":"Joris","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Jokic","given":"Sasa","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Novikov","given":"Petr","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Fraguada","given":"Luis E.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Markopoulou","given":"Areti","non-dropping-particle":"","parse-names":false,"suffix":""}],"collection-title":"Negotiating Design & Making","container-title":"Fabricate 2014","editor":[{"dropping-particle":"","family":"Gramazio","given":"Fabio","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Kohler","given":"Matthias","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Langenberg","given":"Silke","non-dropping-particle":"","parse-names":false,"suffix":""}],"id":"ITEM-1","issued":{"date-parts":[["2017"]]},"page":"192-197","publisher":"UCL Press","publisher-place":"London","title":"Anti-Gravity Additive Manufacturing","type":"chapter"},"uris":[""]}],"mendeley":{"formattedCitation":"[31]","plainTextFormattedCitation":"[31]","previouslyFormattedCitation":"[31]"},"properties":{"noteIndex":0},"schema":""}[31]Due to the size and shape of building elements, robotic-assisted extrusion has been extensively explored in the fields of architectural design and construction using a wide range of materials. 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They produce a soft, pliable proteinaceous film - the periostracum - which later hardens and serves, among other functions, as a form-giving surface for an inner calcium carbonate layer. Snail shell formation is interpreted from a technical point of view to extract potentially useful aspects for a biomimetic transfer. 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The code was generated using HAL, a visual programming language grasshopper plug-in, combining the tool path information with the required material composition. Similarly, Gosselin et al. ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"","ISSN":"0264-1275","author":[{"dropping-particle":"","family":"Gosselin","given":"C","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Duballet","given":"R","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Roux","given":"Ph.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Gaudillière","given":"N","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Dirrenberger","given":"J","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Morel","given":"Ph.","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Materials & Design","id":"ITEM-1","issued":{"date-parts":[["2016"]]},"page":"102-109","title":"Large-scale 3D printing of ultra-high performance concrete – a new processing route for architects and builders","type":"article-journal","volume":"100"},"uris":[""]}],"mendeley":{"formattedCitation":"[34]","plainTextFormattedCitation":"[34]","previouslyFormattedCitation":"[34]"},"properties":{"noteIndex":0},"schema":""}[34] developed a system based on an extrusion print head mounted on an ABB 6620 6-axis robotic arm. 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Inspired by the geometric morphology of the spider silk and aiming to increase the structural performance of architectural structures, researchers from the Tongji University (China) ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1007/978-3-319-26378-6_7","ISBN":"978-3-319-26378-6","abstract":"This paper discusses a robotic multi-dimensional printing design methodology based on a material’s structural performance. Through research on the process of a spider’s behavior, e.g., spinning and weaving, the designers simulate natural construction principles and apply them to the optimization of traditional 3D printing techniques. A 6-axis robot is programmed to carry a customized printing end effector to create free-standing geometries in space. 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They developed a strategy based on the combination of primary curve structure and auxiliary curves contact with the main curve, instead of using a conventional layer-by-layer deposition method. In order to simultaneously print the primary curve and auxiliary curves, one principle and three secondary nozzles were designed to print ABS material.Figure SEQ Figure \* ARABIC 6 a) Robotic system with 6-axis KUKA arm b) Printing head for main and auxiliary curves ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1007/978-3-319-26378-6_7","ISBN":"978-3-319-26378-6","abstract":"This paper discusses a robotic multi-dimensional printing design methodology based on a material’s structural performance. Through research on the process of a spider’s behavior, e.g., spinning and weaving, the designers simulate natural construction principles and apply them to the optimization of traditional 3D printing techniques. 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Displaying a high degree of spatial and structural complexity, the alliance between 3D printing and robotic technology opens new possibilities to sophisticated architectural structures.","author":[{"dropping-particle":"","family":"Yuan","given":"Philip F","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Meng","given":"Hao","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Yu","given":"Lei","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Zhang","given":"Liming","non-dropping-particle":"","parse-names":false,"suffix":""}],"editor":[{"dropping-particle":"","family":"Reinhardt","given":"Dagmar","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Saunders","given":"Rob","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Burry","given":"Jane","non-dropping-particle":"","parse-names":false,"suffix":""}],"id":"ITEM-1","issued":{"date-parts":[["2016"]]},"page":"92-105","publisher":"Springer International Publishing","publisher-place":"Cham","title":"Robotic Multi-dimensional Printing Based on Structural Performance BT - Robotic Fabrication in Architecture, Art and Design 2016","type":"chapter"},"uris":[""]}],"mendeley":{"formattedCitation":"[35]","plainTextFormattedCitation":"[35]","previouslyFormattedCitation":"[35]"},"properties":{"noteIndex":0},"schema":""}[35]Additionally, small mobile robots and cable driven robots are also being tested. The Institute for Advanced Architecture of Catalonia (Spain) ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"URL":"","accessed":{"date-parts":[["2018","6","11"]]},"author":[{"dropping-particle":"","family":"Jin, S., Maggs, S., Sadan, D. and Nan","given":"C","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"IAAC","id":"ITEM-1","issued":{"date-parts":[["2013"]]},"title":"Minibuilders by the Institute for Advanced Architecture of Catalonia","type":"webpage"},"uris":[""]}],"mendeley":{"formattedCitation":"[36]","plainTextFormattedCitation":"[36]","previouslyFormattedCitation":"[36]"},"properties":{"noteIndex":0},"schema":""}[36] developed the concept of mini builders, using a family of three small mobile robots able to print concrete (Figure 7). One or more foundation robots create the footprint of the structure (Figure 7a), followed by grip robots that are clamped onto the footprint and extend the structure (Figure 7b). Finally, a vacuum robot moves over the printed structure and reinforces it by applying additional layers of material (Figure 7c). At the University of Stuttgart (Germany) ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"ISBN":"9781787350007","abstract":"In the past decade, robotic fabrication in the field of architecture has developed rapidly, opening up new possibilities for architecture and design. New fabrication techniques allow the utilisation of materials like fibre composites in the field of architectural construction by employing qualities of the material that were previously not feasible. However, the equipment used for material exploration in the field is often standard industrial machines, originally designed for assembly line applications, which have scale and process limitations. Introducing a new generation of mobile construction machines capable of operating onsite would allow expansion of the capabilities of currently developed fibre composite","author":[{"dropping-particle":"","family":"Yablonina","given":"Maria","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Prado","given":"Marshall","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Baharlou","given":"Ehsan","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Schwinn","given":"Tobias","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Fabricate 2017","editor":[{"dropping-particle":"","family":"MENGES","given":"ACHIM","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"SHEIL","given":"B O B","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"GLYNN","given":"RUAIRI","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"SKAVARA","given":"MARILENA","non-dropping-particle":"","parse-names":false,"suffix":""}],"id":"ITEM-1","issued":{"date-parts":[["2017"]]},"page":"202-209","publisher":"UCL Press","title":"Mobile Robotic Fabrication System For Filament Structures","type":"chapter"},"uris":[""]}],"mendeley":{"formattedCitation":"[37]","plainTextFormattedCitation":"[37]","previouslyFormattedCitation":"[37]"},"properties":{"noteIndex":0},"schema":""}[37] researchers proposed a multi-robot system of cooperative mobile machines operating within the context of the surfaces of existing architectural elements such as fa?ets, walls and ceilings, anchoring new tensile filament structures to these surfaces (Figure 8). This project uses low payload agile machines, which can be easily used to print different types of materials by incorporating a lightweight extrusion printing head. Cable-suspended robotic systems are also being used to produce large-scale parts. An example is the research conducted at the University Laval (Canada) ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"","ISSN":"2214-8604","abstract":"Although additive manufacturing (AM) is now a well-established industry, very few large-scale AM systems have been developed. Here, a large-scale 3D printer is introduced, which uses a six-degree-of-freedom cable-suspended robot for positioning, with polyurethane foam as the object material and shaving foam as the support material. Cable-positioning systems provide large ranges of motion and cables can be compactly wound on spools, making them less expensive, much lighter, more transportable, and more easily reconfigurable, compared to the gantry-type positioning systems traditionally used in 3D printing. The 3D foam printer performance is demonstrated through the construction of a 2.16-m-high statue of Sir Wilfrid Laurier, the seventh Prime Minister of Canada, at an accuracy of approximately 1cm, which requires 38h of printing time. The system advantages and drawbacks are then discussed, and novel features such as unique support techniques and geometric feedback are highlighted. Finally, a description of the planned system modifications is provided.","author":[{"dropping-particle":"","family":"Barnett","given":"Eric","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Gosselin","given":"Clément","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Additive Manufacturing","id":"ITEM-1","issued":{"date-parts":[["2015"]]},"page":"27-44","title":"Large-scale 3D printing with a cable-suspended robot","type":"article-journal","volume":"7"},"uris":[""]}],"mendeley":{"formattedCitation":"[38]","plainTextFormattedCitation":"[38]","previouslyFormattedCitation":"[38]"},"properties":{"noteIndex":0},"schema":""}[38] that used a six DOF cable suspended robot to produce a large statue from polyurethane foam (Figure 9).Figure SEQ Figure \* ARABIC 7 a) Foundation robot and printing phase, b) Grip robot and printing phase, c) Vacuum robot and printing phase, d) Printing phases of the mini builders system ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"URL":"","accessed":{"date-parts":[["2018","6","11"]]},"author":[{"dropping-particle":"","family":"Jin, S., Maggs, S., Sadan, D. and Nan","given":"C","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"IAAC","id":"ITEM-1","issued":{"date-parts":[["2013"]]},"title":"Minibuilders by the Institute for Advanced Architecture of Catalonia","type":"webpage"},"uris":[""]}],"mendeley":{"formattedCitation":"[36]","plainTextFormattedCitation":"[36]","previouslyFormattedCitation":"[36]"},"properties":{"noteIndex":0},"schema":""}[36]Figure SEQ Figure \* ARABIC 8 a) Building process of multi-robotic system, b) Diagram of the process ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"ISBN":"9781787350007","abstract":"In the past decade, robotic fabrication in the field of architecture has developed rapidly, opening up new possibilities for architecture and design. New fabrication techniques allow the utilisation of materials like fibre composites in the field of architectural construction by employing qualities of the material that were previously not feasible. However, the equipment used for material exploration in the field is often standard industrial machines, originally designed for assembly line applications, which have scale and process limitations. Introducing a new generation of mobile construction machines capable of operating onsite would allow expansion of the capabilities of currently developed fibre composite","author":[{"dropping-particle":"","family":"Yablonina","given":"Maria","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Prado","given":"Marshall","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Baharlou","given":"Ehsan","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Schwinn","given":"Tobias","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Fabricate 2017","editor":[{"dropping-particle":"","family":"MENGES","given":"ACHIM","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"SHEIL","given":"B O B","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"GLYNN","given":"RUAIRI","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"SKAVARA","given":"MARILENA","non-dropping-particle":"","parse-names":false,"suffix":""}],"id":"ITEM-1","issued":{"date-parts":[["2017"]]},"page":"202-209","publisher":"UCL Press","title":"Mobile Robotic Fabrication System For Filament Structures","type":"chapter"},"uris":[""]}],"mendeley":{"formattedCitation":"[37]","plainTextFormattedCitation":"[37]","previouslyFormattedCitation":"[37]"},"properties":{"noteIndex":0},"schema":""}[37]Figure SEQ Figure \* ARABIC 9 a) Cable robot system, b) Final foam product ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"","ISSN":"2214-8604","abstract":"Although additive manufacturing (AM) is now a well-established industry, very few large-scale AM systems have been developed. Here, a large-scale 3D printer is introduced, which uses a six-degree-of-freedom cable-suspended robot for positioning, with polyurethane foam as the object material and shaving foam as the support material. Cable-positioning systems provide large ranges of motion and cables can be compactly wound on spools, making them less expensive, much lighter, more transportable, and more easily reconfigurable, compared to the gantry-type positioning systems traditionally used in 3D printing. The 3D foam printer performance is demonstrated through the construction of a 2.16-m-high statue of Sir Wilfrid Laurier, the seventh Prime Minister of Canada, at an accuracy of approximately 1cm, which requires 38h of printing time. The system advantages and drawbacks are then discussed, and novel features such as unique support techniques and geometric feedback are highlighted. Finally, a description of the planned system modifications is provided.","author":[{"dropping-particle":"","family":"Barnett","given":"Eric","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Gosselin","given":"Clément","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Additive Manufacturing","id":"ITEM-1","issued":{"date-parts":[["2015"]]},"page":"27-44","title":"Large-scale 3D printing with a cable-suspended robot","type":"article-journal","volume":"7"},"uris":[""]}],"mendeley":{"formattedCitation":"[38]","plainTextFormattedCitation":"[38]","previouslyFormattedCitation":"[38]"},"properties":{"noteIndex":0},"schema":""}[38]Photo polymerisation ProcessesThe use of robotic systems to print photo-curable polymers is not significant and limited to hydrogels and medical applications. Li et al. ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.3390/app7010073","ISSN":"2076-3417","abstract":"In-situ printing is a promising injury repair technique that can be directly applied during surgical operations. This paper features a potential in-situ printing platform based on a small-scale robotic arm with a micro-sized dispenser valve. A double-light-source curing method was applied to print poly(ethylene glycol) diacrylate (PEGDA) with a 20% (weight/volume) ratio and the entire process was controlled automatically by a computer interface where droplet diameter, curing time, mechanical properties were measured and essential printing parameters (e.g., nozzle velocity, nozzle frequency) were determined. Three different two-dimensional (2D) plane models (namely, square, circular, and heart-shaped) were printed during initial printing trials. The feasibility study of in-situ printing on curved surfaces was tested using a three-dimensional (3D) printed defect model. The defect was successfully filled using both parallel and ring printing paths. In conclusion, the robotic arm printing platform and its forming method can achieve a rapid curing of PEGDA hydrogel on a curved surface and has the potential to be applied to in-situ printing.","author":[{"dropping-particle":"","family":"Li","given":"Xiao","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Lian","given":"Qin","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Li","given":"Dichen","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Xin","given":"Hua","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Jia","given":"Shuhai","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Li","given":"Xiao","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Lian","given":"Qin","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Li","given":"Dichen","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Xin","given":"Hua","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Jia","given":"Shuhai","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Applied Sciences","id":"ITEM-1","issue":"1","issued":{"date-parts":[["2017","1","11"]]},"page":"73","publisher":"Multidisciplinary Digital Publishing Institute","title":"Development of a Robotic Arm Based Hydrogel Additive Manufacturing System for In-Situ Printing","type":"article-journal","volume":"7"},"uris":[""]}],"mendeley":{"formattedCitation":"[42]","plainTextFormattedCitation":"[42]","previouslyFormattedCitation":"[42]"},"properties":{"noteIndex":0},"schema":""}[42] developed a robotic arm based hydrogel additive manufacturing system for in-situ printing in the medical field. The system, designed to directly operated during surgical operations, was used to print photo-curable poly (ethylene glycol) diacrylate. The system includes a 3DOF desktop robot arm called Dobot version 1.0 and a light-curing system that consists of a micro-valve, two symmetrically positioned ultraviolet (UV) light sources and a nozzle holder (Figure 10). The process starts with the ejection of material droplets to form a continuous line controlled by the movement of the robot arm. During the printing process the material is simultaneously exposed to UV light for curing (solidification), being the light source positioned. The material flow, size of the droplets and the position of the light source are key parameters ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1016/j.sdentj.2017.01.002","ISSN":"1013-9052","PMID":"28490843","abstract":"AIM The aim of this review was to help clinicians improve their understanding of the polymerization process for resin-based composites (RBC), the effects of different factors on the process and the way in which, when controlled, the process leads to adequately cured RBC restorations. METHODS Ten factors and their possible effects on RBC polymerization are reviewed and discussed, with some recommendations to improve that process. These factors include RBC shades, their light curing duration, increment thickness, light unit system used, cavity diameter, cavity location, light curing tip distance from the curing RBC surface, substrate through which the light is cured, filler type, and resin/oral cavity temperature. CONCLUSION The results of the review will guide clinicians toward the best means of providing their patients with successfully cured RBC restorations.","author":[{"dropping-particle":"","family":"AlShaafi","given":"Maan M","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"The Saudi dental journal","id":"ITEM-1","issue":"2","issued":{"date-parts":[["2017","4"]]},"page":"48-58","publisher":"Elsevier","title":"Factors affecting polymerization of resin-based composites: A literature review.","type":"article-journal","volume":"29"},"uris":[""]},{"id":"ITEM-2","itemData":{"DOI":"10.1002/app.42458","ISSN":"00218995","author":[{"dropping-particle":"","family":"Pereira","given":"Rúben F.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Bártolo","given":"Paulo J.","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Journal of Applied Polymer Science","id":"ITEM-2","issue":"48","issued":{"date-parts":[["2015","12","20"]]},"page":"n/a-n/a","publisher":"Wiley-Blackwell","title":"3D bioprinting of photocrosslinkable hydrogel constructs","type":"article-journal","volume":"132"},"uris":[""]}],"mendeley":{"formattedCitation":"[43–44]","plainTextFormattedCitation":"[43–44]","previouslyFormattedCitation":"[43–44]"},"properties":{"noteIndex":0},"schema":""}[43–44]. Authors used two light sources symmetrically positioned to ensure the rapid solidification for both sides of the ejected material.Figure SEQ Figure \* ARABIC 10 a) Robotic arm printing platform, b) Double-light-source ink jet light curing nozzle system ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.3390/app7010073","ISSN":"2076-3417","abstract":"In-situ printing is a promising injury repair technique that can be directly applied during surgical operations. This paper features a potential in-situ printing platform based on a small-scale robotic arm with a micro-sized dispenser valve. A double-light-source curing method was applied to print poly(ethylene glycol) diacrylate (PEGDA) with a 20% (weight/volume) ratio and the entire process was controlled automatically by a computer interface where droplet diameter, curing time, mechanical properties were measured and essential printing parameters (e.g., nozzle velocity, nozzle frequency) were determined. Three different two-dimensional (2D) plane models (namely, square, circular, and heart-shaped) were printed during initial printing trials. The feasibility study of in-situ printing on curved surfaces was tested using a three-dimensional (3D) printed defect model. The defect was successfully filled using both parallel and ring printing paths. In conclusion, the robotic arm printing platform and its forming method can achieve a rapid curing of PEGDA hydrogel on a curved surface and has the potential to be applied to in-situ printing.","author":[{"dropping-particle":"","family":"Li","given":"Xiao","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Lian","given":"Qin","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Li","given":"Dichen","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Xin","given":"Hua","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Jia","given":"Shuhai","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Li","given":"Xiao","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Lian","given":"Qin","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Li","given":"Dichen","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Xin","given":"Hua","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Jia","given":"Shuhai","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Applied Sciences","id":"ITEM-1","issue":"1","issued":{"date-parts":[["2017","1","11"]]},"page":"73","publisher":"Multidisciplinary Digital Publishing Institute","title":"Development of a Robotic Arm Based Hydrogel Additive Manufacturing System for In-Situ Printing","type":"article-journal","volume":"7"},"uris":[""]}],"mendeley":{"formattedCitation":"[42]","plainTextFormattedCitation":"[42]","previouslyFormattedCitation":"[42]"},"properties":{"noteIndex":0},"schema":""}[42]Directed Energy DepositionAccording to the ASTM F2792-12a, DED represents a group of additive manufacturing processes that uses thermal energy “to fuse materials by melting as they are being deposited” using a laser, electron beam or plasma arc as the energy sources ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1520/F2792-12","id":"ITEM-1","issued":{"date-parts":[["12"]]},"publisher":"ASTM International","title":"ASTM F2792-12 - Standard Terminology for Additive Manufacturing Technologies,","type":"article"},"uris":[""]}],"mendeley":{"formattedCitation":"[45]","plainTextFormattedCitation":"[45]","previouslyFormattedCitation":"[45]"},"properties":{"noteIndex":0},"schema":""}[45].This is the only multi DOF additive manufacturing technique able to process metallic materials either in a powder form (coaxial powder feeding) or in the wire form. The process has been used to create full dense and high-performance new parts or new geometries in existing parts ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1016/j.optlastec.2018.01.042","ISSN":"00303992","abstract":"The subject of repairing Ni-based parts with state-of-the-art technologies is increasingly addressed both for research and industrial purposes, aiming to cost saving mainly in aerospace and automotive. In this frame, laser-aided Directed Metal Deposition (DMD) with injection of powder is investigated in this paper since minimal distortion of the work-piece, reduced heat-affected zones and better surface quality are benefited in comparison with conventional techniques. Actual application to overhaul Ni-based components is aimed, therefore homologous powder is fed by means of a 3-way feeding nozzle over the substrate; a disc laser is used as heat source. The chemical composition of both the substrate and the powder is preliminarily investigated via areal and punctual EDS inspections. A 2-factor, 2-level experimental plan is drawn to discuss the main effects of the processing variables laser power and processing speed. Namely, the resulting trends are given and compared with similar findings in the literature. Interestingly, dilution as a measure of metal affection is found to be lower than 25%, hence the operating window is deemed to be suitable for both repairing and fabrication of parts. Eventually, repairing by means of side overlapping and multi-level deposition traces on artificial square-shaped grooves is performed: indeed, similar slots are made before DMD to preliminarily remove any local imperfection upon improper casting of the part in the actual industrial process. Although a number of micropores are found, the process is deemed to comply with usual referred standards; in particular, a proper processing window has been found to prevent the occurrence of hot cracking which usually affects the compliance to stress.","author":[{"dropping-particle":"","family":"Caiazzo","given":"Fabrizia","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Optics and Laser Technology","id":"ITEM-1","issued":{"date-parts":[["2018"]]},"title":"Laser-aided Directed Metal Deposition of Ni-based superalloy powder","type":"article-journal"},"uris":[""]}],"mendeley":{"formattedCitation":"[46]","plainTextFormattedCitation":"[46]","previouslyFormattedCitation":"[46]"},"properties":{"noteIndex":0},"schema":""}[46]. It has been also used to repair large tools such as injection moulds. By changing the materials supplied by the nozzles, it is possible to create multi-material and functionally graded structures, which represents a key advantage of this technique ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1016/J.ACTAMAT.2018.04.009","ISSN":"1359-6454","abstract":"Functionally gradient materials (FGM) have many important applications due to their ability to possess vastly different material properties across the gradient. Recent work on dissolvable supports in stainless steel components fabricated using directed energy deposition (DED) show the utility of exploiting differences in the corrosion suseptibility in FGM metals. In order to better control the feature resolution of DED dissolvable supports, it is first necessary to understand how dilution and mixing within the gradient impact the local corrosion susceptibility and etch rates. In this work, FGMs with varying numbers of tracks and layers were fabricated onto a 304 stainless steel build plate; first one to three layers of 91 carbon steel followed by one to ten layers of 431 stainless steel. Metallography, potentiodynamic polarization plots, energy dispersive x-ray spectroscopy, and 3D contact profilometry data were collected to show that mixing within the gradient is very inhomogeneous. Incomplete mixing is observed throughout individual tracks along with widely varying composition and material properties from track-to-track, even within a single track. This paper demonstrates that the impact of incomplete mixing and composition gradients within a layer must be considered for DED-fabricated FGM dissolvable supports.","author":[{"dropping-particle":"","family":"Lefky","given":"Christopher S.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Zucker","given":"Brian","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Nassar","given":"Abdalla R.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Simpson","given":"Timothy W.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Hildreth","given":"Owen J.","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Acta Materialia","id":"ITEM-1","issued":{"date-parts":[["2018","7","1"]]},"page":"1-7","publisher":"Pergamon","title":"Impact of compositional gradients on selectivity of dissolvable support structures for directed energy deposited metals","type":"article-journal","volume":"153"},"uris":[""]}],"mendeley":{"formattedCitation":"[47]","plainTextFormattedCitation":"[47]","previouslyFormattedCitation":"[47]"},"properties":{"noteIndex":0},"schema":""}[47]. DED has also been used to create thermal and chemical resistant coatings ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"","ISBN":"17555817 (ISSN)","ISSN":"1755-5817","abstract":"Additive manufacturing has been utilized recently for prototyping and mass production of parts especially in the aerospace and medical industries. Most of the parts are processed by the powder bed fusion (PBF) method. On the other hand, the directed energy deposition (DED) method is attractive due to the high deposition speed. However, various parameters must be set for deposition processes and how these parameter settings affect the quality of products in terms of pores and machine properties have not been clarified. This paper studies factors contributing to pore generation in the deposition processes of Inconel 625 by the DED method. First, tests for deposition processes in single layer and multiple layers were conducted under various depositing conditions by changing the laser output and the amount of powder. The test results have clarified depositing conditions where less pores are generated, differences in hardness by deposited position, and the factors for those differences.","author":[{"dropping-particle":"","family":"Fujishima","given":"Makoto","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Oda","given":"Yohei","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Ashida","given":"Ryo","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Takezawa","given":"Kotaro","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Kondo","given":"Masaki","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"CIRP Journal of Manufacturing Science and Technology","id":"ITEM-1","issued":{"date-parts":[["2017"]]},"page":"200-204","title":"Study on factors for pores and cladding shape in the deposition processes of Inconel 625 by the directed energy deposition (DED) method","type":"article-journal","volume":"19"},"uris":[""]}],"mendeley":{"formattedCitation":"[48]","plainTextFormattedCitation":"[48]","previouslyFormattedCitation":"[48]"},"properties":{"noteIndex":0},"schema":""}[48]. The process requires the correct adjustment of several process parameters such as laser power, scanning speed, powder feed rate, working distance, preheating temperature, carrier gas flow, shielding gas flow and cooling intervals ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1016/j.addma.2018.04.002","ISSN":"22148604","abstract":"Laser cladding and additive manufacturing based on the laser cladding process are becoming extremely important in industrial applications. This causes the necessity for process parameter maps that make the process as effective as possible. This paper offers guidelines to evaluate process parameter maps for single tracks, which are a requirement for high quality claddings and 3D structures. The procedure is executed creating a process map for the parameters laser power, powder feed rate and scanning speed for a commercial Lasertec 65 3D hybrid machine. Commercially available Inconel 718 powder is used as a basis for this study. Besides using semi-empiric correlations from literature between combined parameters and resulting tracks, further quality measures like the build rate and an arbitrary geometry factor are taken into account. Furthermore, a general guideline to determine further correlations is presented. A comparison to literature shows that some correlations appear to be widely applicable on different machines and materials.","author":[{"dropping-particle":"","family":"Bax","given":"Benjamin","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Rajput","given":"Rohan","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Kellet","given":"Richard","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Reisacher","given":"Martin","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Additive Manufacturing","id":"ITEM-1","issued":{"date-parts":[["2018"]]},"title":"Systematic evaluation of process parameter maps for laser cladding and directed energy deposition","type":"article-journal"},"uris":[""]}],"mendeley":{"formattedCitation":"[49]","plainTextFormattedCitation":"[49]","previouslyFormattedCitation":"[49]"},"properties":{"noteIndex":0},"schema":""}[49]. The adjustment of these parameters depends on the materials to be processed being the most commonly use material Inconel 625, Ti6Al4V, nitinol, stainless steel, aluminium and tool steel ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1016/j.msea.2018.01.060","ISSN":"09215093","abstract":"Accurate temperature measurements based on careful experimentation and microstructural analysis were conducted for Ti-6Al-4V and Inconel 625 alloys deposited using the laser-based directed energy deposition process. In the case of the Ti-6Al-4V alloy, thermal measurements were made in the first layer during the first and four subsequent deposits to ascertain microstructural evolution during the heating and cooling cycles. Four energy densities were utilized during deposition of the Inconel 625 alloy to alter cooling rates and determine the impact of processing conditions on solidification morphology. The precise experimental measurements enabled a comprehensive analysis of the solid state reactions for Ti-6Al-4V, and the solidification phenomena to be elucidated for Inconel 625. The results for the Ti-6Al-4V alloy indicated that the measured thermal response could be used to anticipate initial microstructure based on cooling rates from the β-transus, and subsequent thermal cycles could be utilized to define potential transformations between α, α′, and β. Analysis of the measured thermal cycles from the liquid through solidification for the Inconel 625 alloy showed that processing parameters could be linked to factors governing the solidification process and microstructural features. Using these relationships, an accurate processing map for laser-based directed energy deposition for Inconel 625 was constructed to enable the identification of solidification morphology and microstructural scale based on critical processing parameters.","author":[{"dropping-particle":"","family":"Lia","given":"Frederick","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Park","given":"Joshua Z.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Keist","given":"Jayme S.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Joshi","given":"Sanjay","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Martukanitz","given":"Richard P.","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Materials Science and Engineering A","id":"ITEM-1","issued":{"date-parts":[["2018"]]},"title":"Thermal and microstructural analysis of laser-based directed energy deposition for Ti-6Al-4V and Inconel 625 deposits","type":"article-journal"},"uris":[""]}],"mendeley":{"formattedCitation":"[50]","plainTextFormattedCitation":"[50]","previouslyFormattedCitation":"[50]"},"properties":{"noteIndex":0},"schema":""}[50]. DED presents some limitations in building complex shapes, efficient powder delivery (in the case of powder form materials) and control of material properties ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1007/978-1-4939-2113-3","ISBN":"978-1-4939-2112-6","ISSN":"0717-6163","PMID":"15003161","abstract":"This book covers in detail the various aspects of joining materials to form parts. A conceptual overview of rapid prototyping and layered manufacturing is given, beginning with the fundamentals so that readers can get up to speed quickly. Unusual and emerging applications such as micro-scale manufacturing, medical applications, aerospace, and rapid manufacturing are also discussed. This book provides a comprehensive overview of rapid prototyping technologies as well as support technologies such as software systems, vacuum casting, investment casting, plating, infiltration and other systems. This book also: Reflects recent developments and trends and adheres to the ASTM, SI, and other standards Includes chapters on automotive technology, aerospace technology and low-cost AM technologies Provides a broad range of technical questions to ensure comprehensive understanding of the concepts covered.","author":[{"dropping-particle":"","family":"Gibson","given":"Ian","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Rosen","given":"David","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Stucker","given":"Brent","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Additive Manufacturing Technologies: 3D Printing, Rapid Prototyping, and Direct Digital Manufacturing, Second Edition","id":"ITEM-1","issued":{"date-parts":[["2015"]]},"title":"Additive Manufacturing Technologies","type":"book"},"uris":[""]}],"mendeley":{"formattedCitation":"[2]","plainTextFormattedCitation":"[2]","previouslyFormattedCitation":"[2]"},"properties":{"noteIndex":0},"schema":""}[2].Several research centres are developing DED systems. The Research Centre for Advanced Manufacturing (RCAM) at Southern Methodist University (USA) developed a robot controlled laser-based direct metal deposition (LBDMD) system that couples a 6-axis robot arm with an additional 2-axis tilt and rotatory positioning system (Figure 11a) ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"","ISSN":"0736-5845","abstract":"Laser-based direct metal deposition (LBDMD) is a promising additive manufacturing technology that is well suited for production of complex metal structures, low-volume manufacturing, and high-value component repair or modification. It finds broad application in the automotive, biomedical, and aerospace industries. The Research Center for Advanced Manufacturing (RCAM) at Southern Methodist University is developing a robot controlled LBDMD system that couples a 6-axis robot arm with an additional 2-axis tilt and rotatory positioning system. The system simplifies the process planning of multiple-directional deposition for complex parts and reduces production time. This paper describes the printing process specific to complex revolved parts. Taking advantage of the coupled 2-axis tilt and rotatory system, a hybrid slicing method is developed to map the overhanging structures of a revolved part to be at a planar base. Consequently, the traditional path planning strategies are applicable to generate the tool-path for the mapped structures. The method is successfully applied to build a propeller.","author":[{"dropping-particle":"","family":"Ding","given":"Yaoyu","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Dwivedi","given":"Rajeev","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Kovacevic","given":"Radovan","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Robotics and Computer-Integrated Manufacturing","id":"ITEM-1","issued":{"date-parts":[["2017"]]},"page":"67-76","title":"Process planning for 8-axis robotized laser-based direct metal deposition system: A case on building revolved part","type":"article-journal","volume":"44"},"uris":[""]}],"mendeley":{"formattedCitation":"[51]","plainTextFormattedCitation":"[51]","previouslyFormattedCitation":"[51]"},"properties":{"noteIndex":0},"schema":""}[51]. Focusing on the cost reduction and investigating the deposition rates, researchers from the University of Cranfield (UK) explored wire and plasma arc additive manufacturing for large (1.2 m) Ti6Al4V structures using a seven-axis KUKA robotic system (Figure 11b) ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1179/1743284715Y.0000000073","abstract":"Depositing large components (.10 kg) in titanium, aluminium, steel and other metals is possible using Wire ? Arc Additive Manufacturing. This technology adopts arc welding tools and wire as feedstock for additive manufacturing purposes. High deposition rates, low material and equipment costs, and good structural integrity make Wire ? Arc Additive Manufacturing a suitable candidate for replacing the current method of manufacturing from solid billets or large forgings, especially with regards to low and medium complexity parts. A variety of components have been successfully manufactured with this process, including Ti-6Al-4V spars and landing gear assemblies, aluminium wing ribs, steel wind tunnel models and cones. Strategies on how to manage residual stress, improve mechanical properties and eliminate defects such as porosity are suggested. Finally, the benefits of non-destructive testing, online monitoring and in situ machining are discussed.","author":[{"dropping-particle":"","family":"Williams","given":"S W","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Martina","given":"F","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Addison","given":"A C","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Ding","given":"J","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Pardal","given":"G","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Colegrove","given":"P","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Materials Science and Technology","id":"ITEM-1","issued":{"date-parts":[["2015"]]},"title":"Wire + Arc Additive Manufacturing","type":"article-journal"},"uris":[""]}],"mendeley":{"formattedCitation":"[15]","plainTextFormattedCitation":"[15]","previouslyFormattedCitation":"[15]"},"properties":{"noteIndex":0},"schema":""}[15].Wire arc additive manufacturing is also being investigated by researchers from the University of Wollongong (Australia) (Figure 11c) ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"","ISSN":"0736-5845","abstract":"Laser-based direct metal deposition (LBDMD) is a promising additive manufacturing technology that is well suited for production of complex metal structures, low-volume manufacturing, and high-value component repair or modification. It finds broad application in the automotive, biomedical, and aerospace industries. The Research Center for Advanced Manufacturing (RCAM) at Southern Methodist University is developing a robot controlled LBDMD system that couples a 6-axis robot arm with an additional 2-axis tilt and rotatory positioning system. The system simplifies the process planning of multiple-directional deposition for complex parts and reduces production time. This paper describes the printing process specific to complex revolved parts. Taking advantage of the coupled 2-axis tilt and rotatory system, a hybrid slicing method is developed to map the overhanging structures of a revolved part to be at a planar base. Consequently, the traditional path planning strategies are applicable to generate the tool-path for the mapped structures. The method is successfully applied to build a propeller.","author":[{"dropping-particle":"","family":"Ding","given":"Yaoyu","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Dwivedi","given":"Rajeev","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Kovacevic","given":"Radovan","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Robotics and Computer-Integrated Manufacturing","id":"ITEM-1","issued":{"date-parts":[["2017"]]},"page":"67-76","title":"Process planning for 8-axis robotized laser-based direct metal deposition system: A case on building revolved part","type":"article-journal","volume":"44"},"uris":[""]}],"mendeley":{"formattedCitation":"[51]","plainTextFormattedCitation":"[51]","previouslyFormattedCitation":"[51]"},"properties":{"noteIndex":0},"schema":""}[51],Technical University of Ilmenau (Germany) ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1016/J.JMATPROTEC.2019.01.034","ISSN":"0924-0136","abstract":"This study presents investigations on the additive manufacturing of hot work steel with the energy-reduced gas metal arc welding (GMAW) process, which is a cold metal transfer (CMT) process. The paper analyses the influence of arc energy and the thermal field on the resulting mechanical properties and microstructure of the material. The investigations were carried out with hot work tool steel X37CrMoV 5-1, which is used for the manufacturing of plastic moulds, hot extrusion dies, and forging dies. The results show that this steel can be used to generate 3D metal components or structures with high reproducibility, near-net-shaped geometry, absence of cracks, and a deposition rate of up to 3.6?kg/h. The variation of the wire feed speed and the welding speed enables the production of weld beads of width up to 9.4?mm. The mechanical properties of the generated structures can be adapted by the dominant thermal field, which in turn is influenced by the bypass temperature and the electric arc energy. A determining factor to describe the main variables of the welding process is represented by energy per unit length EL. If the bypass temperature is above the martensite start temperature (Ms), there is a homogeneous hardness level along the height of the additively manufactured structure height as long as the energy produced by the welding arc is enough to keep the temperature of all layers above Ms.","author":[{"dropping-particle":"","family":"Ali","given":"Y.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Henckell","given":"P.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Hildebrand","given":"J.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Reimann","given":"J.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Bergmann","given":"J.P.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Barnikol-Oettler","given":"S.","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Journal of Materials Processing Technology","id":"ITEM-1","issued":{"date-parts":[["2019","7","1"]]},"page":"109-116","publisher":"Elsevier","title":"Wire arc additive manufacturing of hot work tool steel with CMT process","type":"article-journal","volume":"269"},"uris":[""]}],"mendeley":{"formattedCitation":"[52]","plainTextFormattedCitation":"[52]","previouslyFormattedCitation":"[52]"},"properties":{"noteIndex":0},"schema":""}[52] and Indian Institute of Technology Bombay (India) ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"abstract":"Subtractive manufacturing (CNC machining) has high quality of geometric and material properties but is slow, costly and infeasible in some cases; additive manufacturing (RP) is just the opposite. Total automation and hence speed is achieved in RP by compromising on quality. Hybrid Layered Manufacturing (HLM) developed at IIT Bombay combines the best features of both these approaches. It uses arc welding for building near-net shapes which are finish machined to final dimensions. High speed of HLM surpasses all other processes for tool making by eliminating NC programming and rough machining. The techno-economic viability of HLM process has been proved through a real life case study. Time and cost of tool making using HLM promises to be substantially lower than that of CNC machining and other RP methods. Interestingly, the material cost in HLM was also found to be lower. HLM is a cheaper retrofitment to any 3 or 5 axis CNC milling machine or machining center.","author":[{"dropping-particle":"","family":"Karunakaran","given":"K P","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Pushpa","given":"Vishal","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Akula","given":"Sreenath Babu","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Dwivedi","given":"Rajeev","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Kovacevic","given":"R","non-dropping-particle":"","parse-names":false,"suffix":""}],"id":"ITEM-1","issued":{"date-parts":[["0"]]},"title":"Techno-Economic Analysis of Hybrid Layered Manufacturing","type":"report"},"uris":[""]}],"mendeley":{"formattedCitation":"[53]","plainTextFormattedCitation":"[53]","previouslyFormattedCitation":"[53]"},"properties":{"noteIndex":0},"schema":""}[53]. At the Oak Ridge National Laboratori, Bandari et al. ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"abstract":"Laser Metal Deposition with wire (LMD-w) is one of the novel Direct Energy Deposition (DED) processes that is gaining the attention of various industries, especially aerospace, due to the potential cost and lead time reductions for complex parts. However, subjects of development include optimization of process parameters (for example laser power, wire feed speed, robotic travel speed, inter-layer cooling time etc.) for large scale adaption of this process. These parameters influence residual stress which potentially results in distortion and subsequent mechanical properties. Inter-layer cooling time is one of the main influences on production volume and is typically used to help control the cooling conditions to mitigate part distortion. Therefore, this paper is aimed at investigating different inter-layer cooling times on distortion and resulting mechanical properties of the parts produced by LMD-w. Distortion of deposited Ti-6Al-4V walls was measured automatically using a laser scanner, which was attached to the robotic arm itself. Finally, suitable recommendations are discussed to optimize the inter-layer cooling time to produce parts with desired mechanical properties.","author":[{"dropping-particle":"","family":"Bandari","given":"Y K","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Lee","given":"Y S","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Nandwana","given":"P","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Richardson","given":"B S","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Adediran","given":"A I","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Love","given":"L J","non-dropping-particle":"","parse-names":false,"suffix":""}],"id":"ITEM-1","issued":{"date-parts":[["2018"]]},"page":"425-437","title":"Effect of Inter-layer Cooling Time on Distortion and Mechanical Properties In Metal Additive Manufacturing","type":"paper-conference"},"uris":[""]}],"mendeley":{"formattedCitation":"[54]","plainTextFormattedCitation":"[54]","previouslyFormattedCitation":"[54]"},"properties":{"noteIndex":0},"schema":""}[54] are exploring the concept of laser wire DED for aerospace applications. Extensive experimental work was performed in order to optimise processing conditions (e.g. laser power, wire feed rate, robotic travel speed and inter-layer cooling time) minimising residual stresses and part distortion. Particular attention was payed to the cooling time between deposited layers of clamped and unclamped (high distortions being observed in unclamped parts) and inter-layer cooling time, which can be used to control the cooling conditions and consequently part distortion (long inter-cooling periods result in significant distortions).Figure SEQ Figure \* ARABIC 11 a) Robot controlled laser based direct metal deposition system, b) Wire and plasma arc additive manufacturing, c) Wire arc additive manufacturing system, d) EBAM system from SciakyThere are also several companies commercialising DED systems. The Laser Engineered Net Shaping (LENS) from OPTOMEC (USA) was the first commercially available DED system ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"URL":"","accessed":{"date-parts":[["2018","6","11"]]},"author":[{"dropping-particle":"","family":"Optomec","given":"","non-dropping-particle":"","parse-names":false,"suffix":""}],"id":"ITEM-1","issued":{"date-parts":[["2018"]]},"title":"Metal 3D printing for prototype and for repair applications for small parts","type":"webpage"},"uris":[""]}],"mendeley":{"formattedCitation":"[55]","plainTextFormattedCitation":"[55]","previouslyFormattedCitation":"[55]"},"properties":{"noteIndex":0},"schema":""}[55]. The LENS system consists of multiple powder feeders delivering metal powders through nozzles using argon as a carrier gas and a high-power ND-YAG laser ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1016/J.ADDMA.2018.02.007","ISSN":"2214-8604","abstract":"To understand processing ability and measure resultant interfacial and thermal properties of Inconel 718 and copper alloy GRCop-84, bimetallic structures were fabricated using laser engineering net shaping (LENS?), a commercially available additive manufacturing technique. It was hypothesized that additively combining the two aerospace alloys would form a unique bimetallic structure with improved thermophysical properties compared to the Inconel 718 alloy. Two approaches were used: the direct deposition of GRCop-84 on Inconel 718 and the compositional gradation of the two alloys. Scanning electron microscopy (SEM), energy dispersive spectroscopy (EDS), X-ray Diffraction (XRD), Vickers microhardness and flash thermal diffusivity were used to characterize these bimetallic structures to validate our hypothesis. The compositional gradation approach showed a gradual transition of Inconel 718 and GRCop-84 elements at the interface, which was also reflected in the cross-sectional hardness profile across the bimetallic interface. SEM images showed columnar grain structures at the interfaces with Cr2Nb precipitate accumulation along grain boundaries and the substrate-deposit interface. The average thermal diffusivity of the bimetallic structure was measured at 11.33?mm2/s for the temperature range of 50?°C–300?°C; a 250% increase in diffusivity when compared to the pure Inconel 718 alloy at 3.20?mm2/s. Conductivity of the bimetallic structures increased by almost 300% compared to Inconel 718 as well. Such structures with designed compositional gradation and tailored thermal properties opens up the possibilities of multi-material metal additive manufacturing for next generation of aerospace structures.","author":[{"dropping-particle":"","family":"Onuike","given":"Bonny","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Heer","given":"Bryan","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Bandyopadhyay","given":"Amit","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Additive Manufacturing","id":"ITEM-1","issued":{"date-parts":[["2018","5","1"]]},"page":"133-140","publisher":"Elsevier","title":"Additive manufacturing of Inconel 718—Copper alloy bimetallic structure using laser engineered net shaping (LENS?)","type":"article-journal","volume":"21"},"uris":[""]},{"id":"ITEM-2","itemData":{"DOI":"10.1016/J.ADDMA.2018.11.018","ISSN":"2214-8604","abstract":"The paper presents a methodology investigation of honeycomb cellular structures deformation process in quasi-static compression tests. Two honeycomb topologies with different elementary cells were designed and manufactured from Ti-6Al-4?V alloy powder with the use of Laser Engineered Net Shaping (LENS) system and compressed using a universal strength machine. To simulate the deformation process with LS-Dyna software, the mechanical properties of the material were assessed and correlated. An elasto-visco-plastic material model (Mat_Plasticity_With_Damage) was used for predicting the material behavior. The results of experimental tests and numerical simulations were compared. A reasonable agreement between deformation, failure and force histories was obtained. Additionally, both the topologies were compared for their energy absorption capabilities. The validated numerical modelling with the adopted constitutive model will be used in the further studies to analyze different cellular structures topologies subjected to dynamic loading.","author":[{"dropping-particle":"","family":"Baranowski","given":"Pawe?","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"P?atek","given":"Pawe?","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Antolak-Dudka","given":"Anna","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Sarzyński","given":"Marcin","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Kucewicz","given":"Micha?","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Durejko","given":"Tomasz","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Ma?achowski","given":"Jerzy","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Janiszewski","given":"Jacek","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Czujko","given":"Tomasz","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Additive Manufacturing","id":"ITEM-2","issued":{"date-parts":[["2019","1","1"]]},"page":"307-316","publisher":"Elsevier","title":"Deformation of honeycomb cellular structures manufactured with Laser Engineered Net Shaping (LENS) technology under quasi-static loading: Experimental testing and simulation","type":"article-journal","volume":"25"},"uris":[""]}],"mendeley":{"formattedCitation":"[56–57]","plainTextFormattedCitation":"[56–57]","previouslyFormattedCitation":"[56–57]"},"properties":{"noteIndex":0},"schema":""}[56–57]. The printing process is performed in a chamber purged with argon to avoid oxidation. Companies such as DMG Mori (Japan) and Mazak (Japan) are offering hybrid machine solutions combining laser-based DED and milling systems ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"URL":"","accessed":{"date-parts":[["2018","6","11"]]},"author":[{"dropping-particle":"","family":"Uk.","given":"","non-dropping-particle":"","parse-names":false,"suffix":""}],"id":"ITEM-1","issued":{"date-parts":[["2018"]]},"title":"LASERTEC 65 3D hybrid - ADDITIVE MANUFACTURING Machines by DMG MORI","type":"webpage"},"uris":[""]},{"id":"ITEM-2","itemData":{"URL":"","accessed":{"date-parts":[["2019","3","13"]]},"author":[{"dropping-particle":"","family":"Mazak","given":"","non-dropping-particle":"","parse-names":false,"suffix":""}],"id":"ITEM-2","issued":{"date-parts":[["0"]]},"title":"Integrex Multi-Tasking | Mazak UK","type":"webpage"},"uris":[""]}],"mendeley":{"formattedCitation":"[58–59]","plainTextFormattedCitation":"[58–59]","previouslyFormattedCitation":"[58–59]"},"properties":{"noteIndex":0},"schema":""}[58–59]. Alternative to lasers, electron beams are also being explored to fuse metallic material in a wire form which is fed into the path of an electron beam in a vacuum environment to additively build parts and features. The use of a vacuum environment eliminates impurities and improves mechanical properties. Additionally, the high temperatures associated to the electron beam processes reduce residual stresses. An example is the system developed by Sciaky Company (Figure 11d), based on a dual wire feed system that allows to build graded parts by combining two different metal alloys in a single melt pool ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"URL":"","accessed":{"date-parts":[["2019","2","28"]]},"id":"ITEM-1","issued":{"date-parts":[["0"]]},"title":"Electron Beam Additive Manufacturing (EBAM?) Technology | Sciaky","type":"webpage"},"uris":[""]}],"mendeley":{"formattedCitation":"[60]","plainTextFormattedCitation":"[60]","previouslyFormattedCitation":"[60]"},"properties":{"noteIndex":0},"schema":""}[60].Table 3 summarises the main characteristics of the machines being commercialised. Table 3 Commercialised Directed Energy Deposition MachinesModel NameSource of EnergyPurge SystemDOFWorking EnvelopeOPTOMECLENS 450Laser-400-watt IPG fibre LaserArgon3-Axis100x100x100 mm3DMG Mori SeikiLASERTEC 65 3DLaser- 2500-watt fibre coupled diode laserArgon5-Axis735x650x560 mm3SCIAKYThe EBAM 110Electron BeamVacuum3-Axis1778 × 1194 × 1600 mm3MAZAKIntegrex i-400 AMLaser-?1000-watt fibreArgon5-Axis1011x1519 mm3Hybrid Robot Assisted SystemsIn a hybrid manufacturing system, two different manufacturing processes such as additive and subtractive methods are combined and work as a single process on a platform, or a group of related processes can be placed in a separated environment ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1007/s40684-016-0028-0","ISSN":"21980810","abstract":"Manufacturing paradigms have historically been shaped by social, economic, and technological aspect, including limitations and needs. Design for manufacturing (DFM) has been the main paradigm for last three decades since design is defined by the limitations of available manufacturing processes. Since reducing the time required for the development of new products has been one of the key issues for businesses, removing the gap between designers and manufacturers has been one of today's main goals. Many methods were developed to reduce this gap including information and communication technologies (ICT). However, current issues have been shifting towards design-related issues such that researchers have been trying to make products desired by the customers rather than that which is cheaper to manufacture. In this article, hybrid manufacturing (HM) and the concept of smart factory are introduced as key technologies for the future paradigm of manufacturing: Manufacturing for Design (MFD). Issues related to the development of HM process and examples of HM process are explained, and the importance of smart factories for the implementation of MFD is shown. Finally, future trends of HM and smart factory are predicted at the end of this article. ? 2016 Korean Society for Precision Engineering.","author":[{"dropping-particle":"","family":"Chu","given":"Won Shik","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Kim","given":"Min Soo","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Jang","given":"Ki Hwan","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Song","given":"Ji Hyeon","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Rodrigue","given":"Hugo","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Chun","given":"Doo Man","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Cho","given":"Young Tae","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Ko","given":"Seung Hwan","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Cho","given":"Kyu Jin","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Cha","given":"Suk Won","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Min","given":"Sangkee","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Jeong","given":"Sung Ho","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Jeong","given":"Haedo","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Lee","given":"Choon Man","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Chu","given":"Chong Nam","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Ahn","given":"Sung Hoon","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"International Journal of Precision Engineering and Manufacturing - Green Technology","id":"ITEM-1","issued":{"date-parts":[["2016"]]},"title":"From design for manufacturing (DFM) to manufacturing for design (MFD) via hybrid manufacturing and smart factory: A review and perspective of paradigm shift","type":"article-journal"},"uris":[""]}],"mendeley":{"formattedCitation":"[61]","plainTextFormattedCitation":"[61]","previouslyFormattedCitation":"[61]"},"properties":{"noteIndex":0},"schema":""}[61]. Combination of different manufacturing processes can provide better surface integrity, reduced tool wear and production time. In addition, hybrid processes allow the fabrication of parts which are not able to be economically produced by separated processes ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1080/0951192X.2012.749530","ISBN":"0951-192X","ISSN":"0951-192X","PMID":"16479898","abstract":"Today, hybrid manufacturing technology has drawn significant interests from both academia and industry due to the capability to make products in a more efficient and productive way. Although there is no specific consensus on the definition of the term ?hybrid processes?, researchers have explored a number of approaches to combine different manufacturing processes with the similar objectives of improving surface integrity, increasing material removal rate, reducing tool wear, reducing production time and extending application areas. Thus, hybrid processes open up new opportunities and applications for manufacturing various components which are not able to be produced economically by processes on their own. This review paper starts with the classification of current manufacturing processes based on processes being defined as additive, subtractive, transformative, joining and dividing. Definitions of hybrid processes from other researchers in the literature are then introduced. The major part of this paper reviews existing hybrid processes reported over the past two decades. Finally, this paper attempts to propose possible definitions of hybrid processes along with the authors? classification, followed by discussion of their developments, limitations and future research needs. Today, hybrid manufacturing technology has drawn significant interests from both academia and industry due to the capability to make products in a more efficient and productive way. Although there is no specific consensus on the definition of the term ?hybrid processes?, researchers have explored a number of approaches to combine different manufacturing processes with the similar objectives of improving surface integrity, increasing material removal rate, reducing tool wear, reducing production time and extending application areas. Thus, hybrid processes open up new opportunities and applications for manufacturing various components which are not able to be produced economically by processes on their own. This review paper starts with the classification of current manufacturing processes based on processes being defined as additive, subtractive, transformative, joining and dividing. Definitions of hybrid processes from other researchers in the literature are then introduced. The major part of this paper reviews existing hybrid processes reported over the past two decades. Finally, this paper attempts to propose possible definitions of hybrid processes along with the authors? classifi…","author":[{"dropping-particle":"","family":"Zhu","given":"Z.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Dhokia","given":"V.G. G","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Nassehi","given":"A.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Newman","given":"S.T. T","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"International Journal of Computer Integrated Manufacturing","id":"ITEM-1","issue":"7","issued":{"date-parts":[["2013","7","1"]]},"note":"From Duplicate 1 (A review of hybrid manufacturing processes – state of the art and future perspectives - Zhu, Z; Dhokia, V G; Nassehi, A; Newman, S T)\n\ndoi: 10.1080/0951192X.2012.749530","page":"596-615","publisher":"Taylor & Francis","title":"A review of hybrid manufacturing processes – state of the art and future perspectives","type":"article-journal","volume":"26"},"uris":[""]}],"mendeley":{"formattedCitation":"[62]","plainTextFormattedCitation":"[62]","previouslyFormattedCitation":"[62]"},"properties":{"noteIndex":0},"schema":""}[62]. In terms of the multi-axis robotic applications, this is an emergent area with very few examples available, most of them based on the combined use of additive manufacturing and multi-axis CNC machining techniques ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"","ISSN":"1526-6125","abstract":"Additive manufacturing has been employed in numerous areas owing to its advantages of fabricating complex geometries and creating less material waste. Nevertheless, parts manufactured by additive manufacturing processes tend to have poor surface quality and low dimensional accuracy. To overcome the limitations of additive manufacturing technologies, the favorable capabilities of subtractive manufacturing, i.e., high surface quality, can be integrated to form a hybrid process. A novel 6-axis hybrid additive-subtractive manufacturing process is proposed and developed in this paper. The hybrid process is realized using a six degrees of freedom (DOF) robot arm, equipped with multiple changeable heads and an integrated manufacturing platform. Based on the obtained results from different case studies, the hybrid additive-subtractive process has shown to have potentials in reducing production time, fabricating parts with better surface quality by removing the staircase error, manufacturing high quality freeform surfaces through the dynamic adjustment of tool axis direction, and eliminating the need for support structure because of the 6-DOF flexibility.","author":[{"dropping-particle":"","family":"Li","given":"Lin","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Haghighi","given":"Azadeh","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Yang","given":"Yiran","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Journal of Manufacturing Processes","id":"ITEM-1","issued":{"date-parts":[["2018"]]},"page":"150-160","title":"A novel 6-axis hybrid additive-subtractive manufacturing process: Design and case studies","type":"article-journal","volume":"33"},"uris":[""]}],"mendeley":{"formattedCitation":"[63]","plainTextFormattedCitation":"[63]","previouslyFormattedCitation":"[63]"},"properties":{"noteIndex":0},"schema":""}[63]. Keating and Oxman ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1016/j.rcim.2013.05.001","ISBN":"0736-5845","ISSN":"07365845","abstract":"Supporting various applications of digital fabrication and manufacturing, the industrial robot is typically assigned repetitive tasks for specific pre-programmed and singular applications. We propose a novel approach for robotic fabrication and manufacturing entitled Compound Fabrication, supporting multi-functional and multi-material processes. This approach combines the major manufacturing technologies including additive, formative and subtractive fabrication, as well as their parallel integration. A 6-axis robotic arm, repurposed as an integrated 3D printing, milling and sculpting platform, enables shifting between fabrication modes and across scales using different end effectors. Promoting an integrated approach to robotic fabrication, novel combination processes are demonstrated including 3D printing and milling fabrication composites. In addition, novel robotic fabrication processes are developed and evaluated, such as multi-axis plastic 3D printing, direct recycling 3D printing, and embedded printing. The benefits and limitations of the Compound Fabrication approach and its experimental platform are reviewed and discussed. Finally, contemplation regarding the future of multi-functional robotic fabrication is offered, in the context of the experiments reviewed and demonstrated in this paper. ? 2013 Elsevier Ltd.","author":[{"dropping-particle":"","family":"Keating","given":"Steven","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Oxman","given":"Neri","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Robotics and Computer-Integrated Manufacturing","id":"ITEM-1","issued":{"date-parts":[["2013"]]},"title":"Compound fabrication: A multi-functional robotic platform for digital design and fabrication","type":"article-journal"},"uris":[""]}],"mendeley":{"formattedCitation":"[64]","plainTextFormattedCitation":"[64]","previouslyFormattedCitation":"[64]"},"properties":{"noteIndex":0},"schema":""}[64] developed a system using a KUKA robotic arm to sequentially move a building platform between an extrusion-based printer and a milling system. First, large parts were printed from polyurethane foam; later subtractive milling and sanding processes were used to increase the surface resolution of the printed part (Figure 12). Similarly, researchers from the University of Illinois (USA) developed a platform combining an extrusion-based system and a milling system with a 6-DOF robotic arm aiming to eliminate the need for support structures and to reduce both manufacturing time and material waste (Figure 13). In this case instead of changing the place of the building platform, the manufacturing tool is changing ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"","ISSN":"1526-6125","abstract":"Additive manufacturing has been employed in numerous areas owing to its advantages of fabricating complex geometries and creating less material waste. Nevertheless, parts manufactured by additive manufacturing processes tend to have poor surface quality and low dimensional accuracy. To overcome the limitations of additive manufacturing technologies, the favorable capabilities of subtractive manufacturing, i.e., high surface quality, can be integrated to form a hybrid process. A novel 6-axis hybrid additive-subtractive manufacturing process is proposed and developed in this paper. The hybrid process is realized using a six degrees of freedom (DOF) robot arm, equipped with multiple changeable heads and an integrated manufacturing platform. Based on the obtained results from different case studies, the hybrid additive-subtractive process has shown to have potentials in reducing production time, fabricating parts with better surface quality by removing the staircase error, manufacturing high quality freeform surfaces through the dynamic adjustment of tool axis direction, and eliminating the need for support structure because of the 6-DOF flexibility.","author":[{"dropping-particle":"","family":"Li","given":"Lin","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Haghighi","given":"Azadeh","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Yang","given":"Yiran","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Journal of Manufacturing Processes","id":"ITEM-1","issued":{"date-parts":[["2018"]]},"page":"150-160","title":"A novel 6-axis hybrid additive-subtractive manufacturing process: Design and case studies","type":"article-journal","volume":"33"},"uris":[""]}],"mendeley":{"formattedCitation":"[63]","plainTextFormattedCitation":"[63]","previouslyFormattedCitation":"[63]"},"properties":{"noteIndex":0},"schema":""}[63].Figure SEQ Figure \* ARABIC 12 Hybrid manufacturing platform a) Part printing process, b) Part surface milling process ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1016/j.rcim.2013.05.001","ISBN":"0736-5845","ISSN":"07365845","abstract":"Supporting various applications of digital fabrication and manufacturing, the industrial robot is typically assigned repetitive tasks for specific pre-programmed and singular applications. We propose a novel approach for robotic fabrication and manufacturing entitled Compound Fabrication, supporting multi-functional and multi-material processes. This approach combines the major manufacturing technologies including additive, formative and subtractive fabrication, as well as their parallel integration. A 6-axis robotic arm, repurposed as an integrated 3D printing, milling and sculpting platform, enables shifting between fabrication modes and across scales using different end effectors. Promoting an integrated approach to robotic fabrication, novel combination processes are demonstrated including 3D printing and milling fabrication composites. In addition, novel robotic fabrication processes are developed and evaluated, such as multi-axis plastic 3D printing, direct recycling 3D printing, and embedded printing. The benefits and limitations of the Compound Fabrication approach and its experimental platform are reviewed and discussed. Finally, contemplation regarding the future of multi-functional robotic fabrication is offered, in the context of the experiments reviewed and demonstrated in this paper. ? 2013 Elsevier Ltd.","author":[{"dropping-particle":"","family":"Keating","given":"Steven","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Oxman","given":"Neri","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Robotics and Computer-Integrated Manufacturing","id":"ITEM-1","issued":{"date-parts":[["2013"]]},"title":"Compound fabrication: A multi-functional robotic platform for digital design and fabrication","type":"article-journal"},"uris":[""]}],"mendeley":{"formattedCitation":"[64]","plainTextFormattedCitation":"[64]","previouslyFormattedCitation":"[64]"},"properties":{"noteIndex":0},"schema":""}[64]Figure SEQ Figure \* ARABIC 13 a) Hybrid manufacturing platform, b) Additive manufacturing head, c) Subtractive manufacturing head ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"","ISSN":"1526-6125","abstract":"Additive manufacturing has been employed in numerous areas owing to its advantages of fabricating complex geometries and creating less material waste. Nevertheless, parts manufactured by additive manufacturing processes tend to have poor surface quality and low dimensional accuracy. To overcome the limitations of additive manufacturing technologies, the favorable capabilities of subtractive manufacturing, i.e., high surface quality, can be integrated to form a hybrid process. A novel 6-axis hybrid additive-subtractive manufacturing process is proposed and developed in this paper. The hybrid process is realized using a six degrees of freedom (DOF) robot arm, equipped with multiple changeable heads and an integrated manufacturing platform. Based on the obtained results from different case studies, the hybrid additive-subtractive process has shown to have potentials in reducing production time, fabricating parts with better surface quality by removing the staircase error, manufacturing high quality freeform surfaces through the dynamic adjustment of tool axis direction, and eliminating the need for support structure because of the 6-DOF flexibility.","author":[{"dropping-particle":"","family":"Li","given":"Lin","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Haghighi","given":"Azadeh","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Yang","given":"Yiran","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Journal of Manufacturing Processes","id":"ITEM-1","issued":{"date-parts":[["2018"]]},"page":"150-160","title":"A novel 6-axis hybrid additive-subtractive manufacturing process: Design and case studies","type":"article-journal","volume":"33"},"uris":[""]}],"mendeley":{"formattedCitation":"[63]","plainTextFormattedCitation":"[63]","previouslyFormattedCitation":"[63]"},"properties":{"noteIndex":0},"schema":""}[63]Information Flow Traditional additive manufacturing methods start with the generation of a 3D solid CAD model ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"","ISSN":"0007-8506","abstract":"Additive manufacturing (AM) is pushing towards industrial applications. But despite good sales of AM machines, there are still several challenges hindering a broad economic use of AM. This keynote paper starts with an overview over laser based additive manufacturing with comments on the main steps necessary to build parts to introduce the complexity of the whole process chain. Then from a manufacturing process oriented viewpoint it identifies these barriers for Laser Beam Melting (LBM) using results of a round robin test inside CIRP and the work of other research groups. It shows how those barriers may be overcome and points out research topics necessary to be addressed in the near future.","author":[{"dropping-particle":"","family":"Schmidt","given":"Michael","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Merklein","given":"Marion","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Bourell","given":"David","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Dimitrov","given":"Dimitri","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Hausotte","given":"Tino","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Wegener","given":"Konrad","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Overmeyer","given":"Ludger","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Vollertsen","given":"Frank","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Levy","given":"Gideon N.","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"CIRP Annals","id":"ITEM-1","issue":"2","issued":{"date-parts":[["2017"]]},"page":"561-583","title":"Laser based additive manufacturing in industry and academia","type":"article-journal","volume":"66"},"uris":[""]}],"mendeley":{"formattedCitation":"[65]","plainTextFormattedCitation":"[65]","previouslyFormattedCitation":"[65]"},"properties":{"noteIndex":0},"schema":""}[65]. The model is then tessellated into the standard STL (STereoLithoraphy file) format, which is finally sliced into multiple cross sections that are sent to the additive manufacturing system ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1007/s00366-015-0407-0","ISBN":"10.1007/s00366-015-0407-0","ISSN":"14355663","abstract":"Three dimensional printing has gained consid- erable interest lately due to the proliferation of inexpensive devices as well as open source software that drive those devices. Public interest is often followed by media cover- age that tends to sensationalize technology. Based on popu- lar articles, the public may create the impression that 3D printing is the Holy Grail; we are going to print everything as one piece, traditional manufacturing is at the brink of collapse, and exotic applications, such as cloning a human body by 3D bio-printing, are just around the corner. The purpose of this paper is to paint a more realistic picture by identifying ten challenges that clearly illustrate the limita- tions of this technology, which makes it just as vulnerable as anything else that had been touted before as the next game changer.","author":[{"dropping-particle":"","family":"Oropallo","given":"William","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Piegl","given":"Les A.","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Engineering with Computers","id":"ITEM-1","issued":{"date-parts":[["2016"]]},"title":"Ten challenges in 3D printing","type":"article-journal"},"uris":[""]}],"mendeley":{"formattedCitation":"[66]","plainTextFormattedCitation":"[66]","previouslyFormattedCitation":"[66]"},"properties":{"noteIndex":0},"schema":""}[66]. The STL file is conceptually simple and easy to generate but presents problems related to its size and numerical accuracy ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1108/JMTM-12-2016-0182","ISSN":"1741038X","abstract":"Purpose This editorial aims to discuss the current state-of-the-art in Additive Manufacturing, more commonly known as 3D Printing, from the business perspectives. The primary drivers behind the development of the associated technologies are considered along with features that limit growth. Design/methodology/approach The approach is a personal perspective, based on approximately 25 years study of the development of the associated technologies and applications. Findings The discussion has found that the technology is still growing healthily, but with an understanding that there are numerous application areas that should be considered separately. Some areas are significantly more mature than others and success in some areas does not guarantee success in others. Originality/value This viewpoint has been prepared for the current state-of-the-art and can be compared with earlier viewpoints to see how things may have changed in the past. This should be of value to those interested to explore how the technology has developed in recent times and how it may move into the future.","author":[{"dropping-particle":"","family":"Gibson","given":"Ian","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Journal of Manufacturing Technology Management","id":"ITEM-1","issued":{"date-parts":[["2017"]]},"title":"The changing face of additive manufacturing","type":"article"},"uris":[""]}],"mendeley":{"formattedCitation":"[67]","plainTextFormattedCitation":"[67]","previouslyFormattedCitation":"[67]"},"properties":{"noteIndex":0},"schema":""}[67]. It is also not possible to specify material properties, so the fabrication of multi-material structures requires the use of several STL files ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1007/978-3-319-55128-9_2","ISBN":"978-3-319-55128-9","abstract":"A series of steps goes into the process chain required to generate a useful physical part from the concept of the same part using additive manufacturing processes.","author":[{"dropping-particle":"","family":"Yang","given":"Li","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Hsu","given":"Keng","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Baughman","given":"Brian","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Godfrey","given":"Donald","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Medina","given":"Francisco","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Menon","given":"Mamballykalathil","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Wiener","given":"Soeren","non-dropping-particle":"","parse-names":false,"suffix":""}],"editor":[{"dropping-particle":"","family":"Yang","given":"Li","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Hsu","given":"Keng","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Baughman","given":"Brian","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Godfrey","given":"Donald","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Medina","given":"Francisco","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Menon","given":"Mamballykalathil","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Wiener","given":"Soeren","non-dropping-particle":"","parse-names":false,"suffix":""}],"id":"ITEM-1","issued":{"date-parts":[["2017"]]},"page":"33-43","publisher":"Springer International Publishing","publisher-place":"Cham","title":"Additive Manufacturing Process Chain BT - Additive Manufacturing of Metals: The Technology, Materials, Design and Production","type":"chapter"},"uris":[""]}],"mendeley":{"formattedCitation":"[68]","plainTextFormattedCitation":"[68]","previouslyFormattedCitation":"[68]"},"properties":{"noteIndex":0},"schema":""}[68].This format consists of a list of connected triangular planar facets representing the outer surface of an object. Each facet is defined in terms of its vertices and a unit surface normal vector directed away from the interior of the part ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"","ISSN":"0007-8506","author":[{"dropping-particle":"","family":"Thompson","given":"Mary Kathryn","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Moroni","given":"Giovanni","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Vaneker","given":"Tom","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Fadel","given":"Georges","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Campbell","given":"R Ian","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Gibson","given":"Ian","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Bernard","given":"Alain","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Schulz","given":"Joachim","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Graf","given":"Patricia","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Ahuja","given":"Bhrigu","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Martina","given":"Filomeno","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"CIRP Annals","id":"ITEM-1","issue":"2","issued":{"date-parts":[["2016"]]},"page":"737-760","title":"Design for Additive Manufacturing: Trends, opportunities, considerations, and constraints","type":"article-journal","volume":"65"},"uris":[""]}],"mendeley":{"formattedCitation":"[69]","plainTextFormattedCitation":"[69]","previouslyFormattedCitation":"[69]"},"properties":{"noteIndex":0},"schema":""}[69]. The vertices of the triangular faces are ordered according to the right-hand rule ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.5402/2012/208760","ISBN":"2090-5130","ISSN":"2090-5130","PMID":"73982286","abstract":"<p>Additive manufacturing processes take the information from a computer-aided design (CAD) file that is later converted to a stereolithography (STL) file. In this process, the drawing made in the CAD software is approximated by triangles and sliced containing the information of each layer that is going to be printed. There is a discussion of the relevant additive manufacturing processes and their applications. The aerospace industry employs them because of the possibility of manufacturing lighter structures to reduce weight. Additive manufacturing is transforming the practice of medicine and making work easier for architects. In 2004, the Society of Manufacturing Engineers did a classification of the various technologies and there are at least four additional significant technologies in 2012. Studies are reviewed which were about the strength of products made in additive manufacturing processes. However, there is still a lot of work and research to be accomplished before additive manufacturing technologies become standard in the manufacturing industry because not every commonly used manufacturing material can be handled. The accuracy needs improvement to eliminate the necessity of a finishing process. The continuous and increasing growth experienced since the early days and the successful results up to the present time allow for optimism that additive manufacturing has a significant place in the future of manufacturing.</p>","author":[{"dropping-particle":"V.","family":"Wong","given":"Kaufui","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Hernandez","given":"Aldo","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"ISRN Mechanical Engineering","id":"ITEM-1","issued":{"date-parts":[["2012"]]},"title":"A Review of Additive Manufacturing","type":"article-journal"},"uris":[""]}],"mendeley":{"formattedCitation":"[70]","plainTextFormattedCitation":"[70]","previouslyFormattedCitation":"[70]"},"properties":{"noteIndex":0},"schema":""}[70]. There are two STL file formats: ASCII (American Standard Code for Information Interchange) and binary. The difference between these two files is the format of the data definition. The quality of these files depends on the following parameters ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1007/978-1-4939-2113-3","ISBN":"978-1-4939-2112-6","ISSN":"0717-6163","PMID":"15003161","abstract":"This book covers in detail the various aspects of joining materials to form parts. A conceptual overview of rapid prototyping and layered manufacturing is given, beginning with the fundamentals so that readers can get up to speed quickly. Unusual and emerging applications such as micro-scale manufacturing, medical applications, aerospace, and rapid manufacturing are also discussed. This book provides a comprehensive overview of rapid prototyping technologies as well as support technologies such as software systems, vacuum casting, investment casting, plating, infiltration and other systems. This book also: Reflects recent developments and trends and adheres to the ASTM, SI, and other standards Includes chapters on automotive technology, aerospace technology and low-cost AM technologies Provides a broad range of technical questions to ensure comprehensive understanding of the concepts covered.","author":[{"dropping-particle":"","family":"Gibson","given":"Ian","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Rosen","given":"David","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Stucker","given":"Brent","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Additive Manufacturing Technologies: 3D Printing, Rapid Prototyping, and Direct Digital Manufacturing, Second Edition","id":"ITEM-1","issued":{"date-parts":[["2015"]]},"title":"Additive Manufacturing Technologies","type":"book"},"uris":[""]}],"mendeley":{"formattedCitation":"[2]","plainTextFormattedCitation":"[2]","previouslyFormattedCitation":"[2]"},"properties":{"noteIndex":0},"schema":""}[2]: Chordal tolerance, which numerically describes the maximum distance between the actual part surface and the tessellated surface of the STL file.Angle control, which influences the tessellation of curves with relatively small radius in comparison to the overall size of the CAD model.The quantity and size of the triangles determine how accurately the surface mesh represents the product. As the number of triangle increase and the relative triangle size decreases, the shape begins to be more accurate ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.7166/25-2-675","author":[{"dropping-particle":"","family":"Brown","given":"A C","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Beer","given":"Deon","non-dropping-particle":"De","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Conradie","given":"Pieter","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"South African Journal of Industrial Engineering","id":"ITEM-1","issued":{"date-parts":[["2014","8","1"]]},"number-of-pages":"39-47","title":"Development of a Stereolithography (STL) input and Computer Numerical Control (CNC) output algorithm for an entry-Level 3-D printer","type":"book","volume":"25"},"uris":[""]}],"mendeley":{"formattedCitation":"[71]","plainTextFormattedCitation":"[71]","previouslyFormattedCitation":"[71]"},"properties":{"noteIndex":0},"schema":""}[71].Finally, the STL model is sliced into a set of cross-section creating the SLI file format. The slicing process can be divided into two main types ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.3722/cadaps.2008.412-423","ISSN":"null","abstract":"Improvement of part surface quality and geometric accuracy by modifying slicing procedure in RP has been a major concern. Reduction in build time and enhancement of part surface quality are two factors which contradict with each other as decreasing build time detracts part quality because of staircase effect. There have been a number of attempts to tackle this problem by using adaptive slicing procedures in which slice thickness is determined by the local part geometry and RP machine specifications. A geometrical parameter known as cusp height is limited to a pre-specified value in various existing adaptive slicing procedures, which is defined for rectangular or sloping edge profiles only. In another approach, relative change in areas of successive slices have been considered as criterion to adaptively slice CAD models but this method has limitation as local geometry of part is not taken into consideration. Therefore, in the present work, a slicing procedure is presented in which statistical surface roughness model developed by Pandey and his group [1] for SLS prototypes has been used as a key to slice the tessellated CAD model adaptively. The adaptive slicing system is implemented as Graphic User Interface in MATLAB-7. The capabilities of developed adaptive slicing system have been demonstrated by case studies.","author":[{"dropping-particle":"","family":"Singhal","given":"S. K.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Jain","given":"Prashant K.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Pandey","given":"Pulak M.","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Computer-Aided Design and Applications","id":"ITEM-1","issue":"1-4","issued":{"date-parts":[["2008","1","1"]]},"note":"From Duplicate 1 (Adaptive Slicing for SLS Prototyping - Singhal, S K; Jain, Prashant K; Pandey, Pulak M)\n\ndoi: 10.3722/cadaps.2008.412-423","page":"412-423","publisher":"Taylor & Francis","title":"Adaptive Slicing for SLS Prototyping","type":"article-journal","volume":"5"},"uris":[""]}],"mendeley":{"formattedCitation":"[72]","plainTextFormattedCitation":"[72]","previouslyFormattedCitation":"[72]"},"properties":{"noteIndex":0},"schema":""}[72]:Uniform slicingAdaptive slicingUniform slicing is a process of intersecting the STL file with a set of horizontal planes with the same layer thickness. Each horizontal plane yields a planar contour that is piecewise linear. Adaptive slicing is a scheme that uses variable layer thickness based on the geometry change of the model along the build direction. This approach results in a reduction of build time and improves surface finish ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"","ISSN":"0278-6125","author":[{"dropping-particle":"","family":"Jin","given":"G Q","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Li","given":"W D","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Tsai","given":"C F","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Wang","given":"L","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Journal of Manufacturing Systems","id":"ITEM-1","issue":"3","issued":{"date-parts":[["2011"]]},"page":"154-164","title":"Adaptive tool-path generation of rapid prototyping for complex product models","type":"article-journal","volume":"30"},"uris":[""]}],"mendeley":{"formattedCitation":"[73]","plainTextFormattedCitation":"[73]","previouslyFormattedCitation":"[73]"},"properties":{"noteIndex":0},"schema":""}[73]. Slicing of an STL file, used due to the simplicity of the associated algorithms presents several disadvantages such as high computational cost (due to the large number of triangles usually considered) or low dimensional accuracy (due to the use of triangles to approximate the part surface instead of using analytical models) ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1016/J.IFACOL.2016.12.163","ISSN":"2405-8963","abstract":"Parametric surfaces such as Bezier are commonly used in the industrial applications and academic research. In additive manufacturing, surfaces are constructed by layering. For this reason, a method is needed to slice the surfaces. In this paper, a new algorithm for slicing 2 ? dimensional parametric surfaces is proposed by using a multistep method such as Adam Bashforth. The mean target of using the multistep methods is to increase the accuracy and efficiency of the procedure. In this paper, Adam Bashfoth 3 steps has been used to determine the best surface subdivision.","author":[{"dropping-particle":"","family":"Gohari","given":"H.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Barari","given":"A.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Kishawy","given":"H.","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"IFAC-PapersOnLine","id":"ITEM-1","issue":"31","issued":{"date-parts":[["2016","1","1"]]},"page":"67-72","publisher":"Elsevier","title":"Using Multistep Methods in Slicing 2 ? Dimensional Parametric Surfaces for Additive Manufacturing Applications","type":"article-journal","volume":"49"},"uris":[""]}],"mendeley":{"formattedCitation":"[74]","plainTextFormattedCitation":"[74]","previouslyFormattedCitation":"[74]"},"properties":{"noteIndex":0},"schema":""}[74]. Direct slicing of cad models using different data formats (B-Rep, STEP, NURBS) have been also explored ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1108/RPJ-09-2013-0090","ISSN":"1355-2546","abstract":"Purpose – This paper aims to propose a global adaptive direct slicing technique of Non-Uniform Rational B-Spline (NURBS)-based sculptured surface for rapid prototyping where the NURBS representation is directly extracted from the computer-aided design (CAD) model. The imported NURBS surface is directly sliced to avoid inaccuracies due to tessellation methods used in common practice. The major objective is to globally optimize texture error function based on the available range of layer thicknesses of the utilized rapid prototyping machine. The total texture error is computed with the defined error function to verify slicing efficiency of this global adaptive slicing algorithm and to find the optimum number of slices. A variety of experiments are conducted to study the accuracy of the developed procedure, and the results are compared with previously developed algorithms. Design/methodology/approach – This paper proposes a new adaptive algorithm which globally optimizes a texture error function produced by ...","author":[{"dropping-particle":"","family":"Sikder","given":"S.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Barari","given":"A.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Kishawy","given":"H.A.","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Rapid Prototyping Journal","id":"ITEM-1","issue":"6","issued":{"date-parts":[["2015","10","19"]]},"page":"649-661","publisher":" Emerald Group Publishing Limited ","title":"Global adaptive slicing of NURBS based sculptured surface for minimum texture error in rapid prototyping","type":"article-journal","volume":"21"},"uris":[""]}],"mendeley":{"formattedCitation":"[75]","plainTextFormattedCitation":"[75]","previouslyFormattedCitation":"[75]"},"properties":{"noteIndex":0},"schema":""}[75]. However, more sophisticated and complex algorithms are required to produce slices. Direct slicing is also software dependent ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"abstract":"This paper presents a framework about layer contour reconstruction algorithms by STLbased slicing process for 3D printing. The experimental results by the traditional uniform slicing show the contour outline of each layer and comparison among the different slicing thickness of the cutting z-plane. We then proposed a simple but effective adaptive slicing method to work on the complicated model. Moreover, we discuss the future work to further study on addressing the accuracy of the boundaries with the adjustment of slicing thickness.","author":[{"dropping-particle":"","family":"Jing Hu","given":"","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Solid Freeform Fabrication","id":"ITEM-1","issued":{"date-parts":[["2017"]]},"page":"885-895","publisher":"Solid Freeform Fabrication Symposium","title":"Study On STL-Based Slicing Process For 3D Printing","type":"paper-conference"},"uris":[""]}],"mendeley":{"formattedCitation":"[76]","plainTextFormattedCitation":"[76]","previouslyFormattedCitation":"[76]"},"properties":{"noteIndex":0},"schema":""}[76].Additionally, both uniform and adaptive slicing methods were developed for “conceptual” additive manufacturing systems based on the fabrication of planar “slices”. The use of robotic systems to assist the printing process allows multi-directional printing. Therefore, different research groups are currently developing multi-directional slicing algorithms to decrease the usage of support structures during the fabrication of overhangs or complex shapes ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1115/1.2783217","ISSN":"10871357","author":[{"dropping-particle":"","family":"Singh","given":"Prabhjot","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Dutta","given":"Debasish","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Journal of Manufacturing Science and Engineering","id":"ITEM-1","issue":"1","issued":{"date-parts":[["2008","2","1"]]},"page":"011011","publisher":"American Society of Mechanical Engineers","title":"Offset Slices for Multidirection Layered Deposition","type":"article-journal","volume":"130"},"uris":[""]}],"mendeley":{"formattedCitation":"[77]","plainTextFormattedCitation":"[77]","previouslyFormattedCitation":"[77]"},"properties":{"noteIndex":0},"schema":""}[77]. However, these novel slicing algorithms are not effective in parts with holes or depression features.Typical additive manufacturing process flow chart from product design to actual part is presented in the Figure 14.Figure SEQ Figure \* ARABIC 14 Information flow of conventional Additive manufacturing processThe information flow of robotic additive manufacturing systems is slightly different from the conventional three axis additive manufacturing methods. A unified strategy is difficult as in this case the information flow depends on the robot and its specific language.An example provided in the Figure 15 showing the information flow for a six DOF extrusion system. The code was developed by researchers at Virginia Tech ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"author":[{"dropping-particle":"","family":"Kubalak","given":"Joseph R","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Mansfield","given":"Craig D","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Pesek","given":"Taylor H","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Snow","given":"Zachary K","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Cottiss","given":"Edward B","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Ebeling-Koning","given":"Oliver D","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Price","given":"Matthew G","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Traverso","given":"Mark H","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Tichnell","given":"L David","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Williams","given":"Christopher B","non-dropping-particle":"","parse-names":false,"suffix":""}],"id":"ITEM-1","issued":{"date-parts":[["0"]]},"title":"Design and realization of a 6 degree of freedom robotic extrusion platform","type":"paper-conference"},"uris":[""]}],"mendeley":{"formattedCitation":"[78]","plainTextFormattedCitation":"[78]","previouslyFormattedCitation":"[78]"},"properties":{"noteIndex":0},"schema":""}[78] and an ABB IRB 1200-7 robotic arm was used. Unlike the traditional AM methods, the system utilises a parser to pull out the information of movement and extrusion (feed rates and heating control) and finally, the information is sent to the robot. Figure SEQ Figure \* ARABIC 15 Information flow of 6-DOF extrusion platform ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"author":[{"dropping-particle":"","family":"Kubalak","given":"Joseph R","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Mansfield","given":"Craig D","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Pesek","given":"Taylor H","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Snow","given":"Zachary K","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Cottiss","given":"Edward B","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Ebeling-Koning","given":"Oliver D","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Price","given":"Matthew G","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Traverso","given":"Mark H","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Tichnell","given":"L David","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Williams","given":"Christopher B","non-dropping-particle":"","parse-names":false,"suffix":""}],"id":"ITEM-1","issued":{"date-parts":[["0"]]},"title":"Design and realization of a 6 degree of freedom robotic extrusion platform","type":"paper-conference"},"uris":[""]}],"mendeley":{"formattedCitation":"[78]","plainTextFormattedCitation":"[78]","previouslyFormattedCitation":"[78]"},"properties":{"noteIndex":0},"schema":""}[78] Similarly, researchers from the Florida Institute of Technology (USA) ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1115/DETC2016-59438","ISBN":"978-0-7918-5015-2","abstract":"This article discusses the concept of using an industrial robot arm platform for additive manufacturing. The concept being explored is the integration of existing additive manufacturing process technologies with an industrial robot arm to create a 3D printer with a multi-plane layering capability. The objective is to develop multi-plane toolpath motions that will leverage the increased capability of the robot arm platform compared to conventional gantry-style 3D printers. This approach enables print layering in multiple planes whereas existing conventional 3D printers are restricted to a single toolpath plane (e.g. x-y plane). This integration combines the fused deposition modeling techniques using an extruder head that is typically used in 3D printing and a 6 degree of freedom robot arm. Here, a Motoman SV3X is used as the platform for the robot arm. A higher level controller is used to control the robot and the extruder. To communicate with the robot, MotoCom SDK libraries is used to develop the interfacing software between the higher level controller and the robot arm controller. The integration of these systems enabled multi-plane toolpath motions to be utilized to produce 3D printed parts. A test block has been 3D printed using this integrated system.","author":[{"dropping-particle":"","family":"Ishak","given":"Ismayuzri","non-dropping-particle":"Bin","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Fisher","given":"Joseph","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Larochelle","given":"Pierre","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Volume 5A: 40th Mechanisms and Robotics Conference","id":"ITEM-1","issued":{"date-parts":[["2016"]]},"title":"Robot Arm Platform for Additive Manufacturing Using Multi-Plane Toolpaths","type":"paper-conference"},"uris":[""]}],"mendeley":{"formattedCitation":"[79]","plainTextFormattedCitation":"[79]","previouslyFormattedCitation":"[79]"},"properties":{"noteIndex":0},"schema":""}[79] developed an information flow system (Figure 16) for a new 3D printer with a multi-plane layering capability. The system utilises a 6 DOF Motoman SV3X robot arm and an existing fused deposition filament machine allowing extrusion in multiple planes. An interfacing system was developed to facilitate the coordination between FDM system and robot arm. The printing process starts with loading a text file which includes the extruder parameters and instructions to control the robot arm to the interfacing software.Figure SEQ Figure \* ARABIC 16 6DOF multiplane printing system information flow ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1115/DETC2016-59438","ISBN":"978-0-7918-5015-2","abstract":"This article discusses the concept of using an industrial robot arm platform for additive manufacturing. The concept being explored is the integration of existing additive manufacturing process technologies with an industrial robot arm to create a 3D printer with a multi-plane layering capability. The objective is to develop multi-plane toolpath motions that will leverage the increased capability of the robot arm platform compared to conventional gantry-style 3D printers. This approach enables print layering in multiple planes whereas existing conventional 3D printers are restricted to a single toolpath plane (e.g. x-y plane). This integration combines the fused deposition modeling techniques using an extruder head that is typically used in 3D printing and a 6 degree of freedom robot arm. Here, a Motoman SV3X is used as the platform for the robot arm. A higher level controller is used to control the robot and the extruder. To communicate with the robot, MotoCom SDK libraries is used to develop the interfacing software between the higher level controller and the robot arm controller. The integration of these systems enabled multi-plane toolpath motions to be utilized to produce 3D printed parts. A test block has been 3D printed using this integrated system.","author":[{"dropping-particle":"","family":"Ishak","given":"Ismayuzri","non-dropping-particle":"Bin","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Fisher","given":"Joseph","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Larochelle","given":"Pierre","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Volume 5A: 40th Mechanisms and Robotics Conference","id":"ITEM-1","issued":{"date-parts":[["2016"]]},"title":"Robot Arm Platform for Additive Manufacturing Using Multi-Plane Toolpaths","type":"paper-conference"},"uris":[""]}],"mendeley":{"formattedCitation":"[79]","plainTextFormattedCitation":"[79]","previouslyFormattedCitation":"[79]"},"properties":{"noteIndex":0},"schema":""}[79]Challenges and conclusionsFlexibility, productivity and agility are the key elements of today’s competitive manufacturing environment ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1109/ETFA.2017.8247739","ISBN":"VO -","abstract":"In this paper the use of industrial robots in combination with additive manufacturing technologies for the production of large parts is presented. The paper summarizes the results of an ongoing major joint project being completed by industrial companies and research organizations. The objective is to develop a &#x201C;genuine&#x201D; three-dimensional additive robotic system that cost effectively builds large models and molds from any thermoplastic material with volumes of 1.000&#x00D7;1.000&#x00D7;1.000 mm³. The system combines hereby the advantages of both worlds - flexible and cost effective industrial robots with high innovative additive manufacturing. In particular, the manufacturing technology, the system architecture and the motion planning are presented.","author":[{"dropping-particle":"","family":"Felsch","given":"T","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Klaeger","given":"U","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Steuer","given":"J","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Schmidt","given":"L","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Schilling","given":"M","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","id":"ITEM-1","issued":{"date-parts":[["2017"]]},"page":"1-4","title":"Robotic system for additive manufacturing of large and complex parts","type":"paper-conference"},"uris":[""]}],"mendeley":{"formattedCitation":"[80]","plainTextFormattedCitation":"[80]","previouslyFormattedCitation":"[80]"},"properties":{"noteIndex":0},"schema":""}[80]. With the development of automation technologies, multiple degree of freedom robots are promising systems for the implementation of flexible, productive and reconfigurable manufacturing methods, performing several tasks from basic handling operations to grinding, cutting, drilling, welding and polishing ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"10.1080/17452759.2017.1392686","ISBN":"1745-2759","ISSN":"17452767","abstract":"? 2017 Informa UK Limited, trading as Taylor & Francis Group. Due to the layer stacking inherent in traditional three-axis material extrusion (ME) additive manufacturing processes, a part's mechanical strength is limited in the print direction due to weaker interlayer bond strength. Often, this requires compromise in part design through either adding material in critical areas of the part, reducing end-use loads or forgoing ME as a manufacturing option. To address this limitation, the authors propose a multi-axis deposition technique that deposits material along a part's surface to improve mechanical performance. Specifically, the authors employ a custom 6 degree of freedom robotic arm ME system to create a surface reinforcing ‘skin’, similar to composite layup, in a single manufacturing process. In this paper, vertical tensile bars are fabricated through stacked XY layers, followed by depositing material directly onto the printed surface to evaluate the effect of the skinning approach on mechanical properties. Experimental results demonstrate that surface-reinforced interlayer bonds provide increased yield strength.","author":[{"dropping-particle":"","family":"Kubalak","given":"Joseph R.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Wicks","given":"Alfred L.","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Williams","given":"Christopher B.","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Virtual and Physical Prototyping","id":"ITEM-1","issued":{"date-parts":[["2018"]]},"title":"Using multi-axis material extrusion to improve mechanical properties through surface reinforcement","type":"article-journal"},"uris":[""]}],"mendeley":{"formattedCitation":"[81]","plainTextFormattedCitation":"[81]","previouslyFormattedCitation":"[81]"},"properties":{"noteIndex":0},"schema":""}[81]. Moreover, current additive manufacturing systems have great potential to reduce time to market, increasing customisation, widening the design option compared to traditional methods. However, limitations of existing AM processes regarding product size, slow built rates, the need of support structure for regions with overhang, drive researchers to develop new fabrication strategies. Effectively, the three-axis layer-by-layer manufacturing nature of conventional additive manufacturing systems and the limited working envelope are major drivers of change ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"DOI":"","ISSN":"1526-6125","abstract":"Additive manufacturing has been employed in numerous areas owing to its advantages of fabricating complex geometries and creating less material waste. Nevertheless, parts manufactured by additive manufacturing processes tend to have poor surface quality and low dimensional accuracy. To overcome the limitations of additive manufacturing technologies, the favorable capabilities of subtractive manufacturing, i.e., high surface quality, can be integrated to form a hybrid process. A novel 6-axis hybrid additive-subtractive manufacturing process is proposed and developed in this paper. The hybrid process is realized using a six degrees of freedom (DOF) robot arm, equipped with multiple changeable heads and an integrated manufacturing platform. Based on the obtained results from different case studies, the hybrid additive-subtractive process has shown to have potentials in reducing production time, fabricating parts with better surface quality by removing the staircase error, manufacturing high quality freeform surfaces through the dynamic adjustment of tool axis direction, and eliminating the need for support structure because of the 6-DOF flexibility.","author":[{"dropping-particle":"","family":"Li","given":"Lin","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Haghighi","given":"Azadeh","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Yang","given":"Yiran","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Journal of Manufacturing Processes","id":"ITEM-1","issued":{"date-parts":[["2018"]]},"page":"150-160","title":"A novel 6-axis hybrid additive-subtractive manufacturing process: Design and case studies","type":"article-journal","volume":"33"},"uris":[""]},{"id":"ITEM-2","itemData":{"DOI":"","ISSN":"1877-7058","author":[{"dropping-particle":"","family":"Iglesias","given":"I","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Sebastián","given":"M A","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Ares","given":"J E","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Procedia Engineering","id":"ITEM-2","issued":{"date-parts":[["2015"]]},"page":"911-917","title":"Overview of the State of Robotic Machining: Current Situation and Future Potential","type":"article-journal","volume":"132"},"uris":[""]},{"id":"ITEM-3","itemData":{"DOI":"10.1177/0954405417752508","abstract":"Additive manufacturing has been developed for decades and attracts significant research interests in recent years. Usually, the stereolithography tessellation language format is employed in additive manufacturing to represent the geometric data. However, people gradually realize the inevitable drawbacks of the stereolithography tessellation language file format, such as redundancy, inaccuracy, missing of feature definitions, and lack of integrity. In addition, it is almost impossible to apply the simple polygonal facet representation to the five-axis manufacturing strategy. Hence, there are quite few researches and applications on the five-axis additive manufacturing, in spite of its common applications in the subtractive machining. This article proposes a feature-based five-axis additive manufacturing methodology to enhance and extend the additive manufacturing method. The additive manufacturing features are defined and categorized into two5D_AM_feature and freeform_AM_feature. A feature extraction metho...","author":[{"dropping-particle":"","family":"Zhao","given":"Gang","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Ma","given":"Guocai","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Xiao","given":"Wenlei","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Tian","given":"Yu","non-dropping-particle":"","parse-names":false,"suffix":""}],"container-title":"Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture","id":"ITEM-3","issued":{"date-parts":[["2018","1","29"]]},"page":"095440541775250","publisher":"SAGE PublicationsSage UK: London, England","title":"Feature-based five-axis path planning method for robotic additive manufacturing","type":"article-journal"},"uris":[""]}],"mendeley":{"formattedCitation":"[63–82–83]","plainTextFormattedCitation":"[63–82–83]","previouslyFormattedCitation":"[63–82–83]"},"properties":{"noteIndex":0},"schema":""}[63–82–83]. As described in this paper, adding an extra degree of freedom to current additive manufacturing systems by using a robotic system allows changing the direction of material accumulation during the fabrication process, building curve and overhang features without printing support structures. Unlike the conventional gantry system that characterises most of the commercially available AM machines, limiting part size, robotic arms can be placed anywhere and can perform printing within large workspace area. An example is the use of robotic-assisted additive manufacturing system for the fabrication of large building construction components. Both three-axis layer-by-layer and robotic systems presents adavantages and disadvantages. Robotic systems, despite allowing reduced levels of accuracy compared to three-axis layer-by-layer systems (e.g. vat-photopolymerisation processes) are ideal to create large parts, to produce parts in a global inert environment or to allow in the same working space the combination of multiple techniques (e.g. robotic systems printing different materials and robotic systems performing inspection tasks) ADDIN CSL_CITATION {"citationItems":[{"id":"ITEM-1","itemData":{"abstract":"Additive manufacture of metre scale parts requires direct feed processes such as blown powder or wire feed combined with lasers or arcs. The overall system can be configured using either a robotic or Computer Numerical Controlled (CNC) gantry system. There are many factors that determine which of these is best and this will be presented in this paper. Some factors are inherent to the specific process type such as accuracy/resolution and any requirement for reorientation of the feedstock and heat source. Other factors depend on the particular application including material type, shielding options, part size/complexity, required build strategies and management of distortion. Further considerations include the incorporation of ancillary processes such as cold work, machining or inspection. The relative influence of these factors will be discussed. Cost implications for the different approaches will be highlighted based upon the type of process being utilized. Examples are provided where both robotic and CNC options have been evaluated and the best solution found.","author":[{"dropping-particle":"","family":"Bandari","given":"Yashwanth","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Ding","given":"Jialuo","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Bandari","given":"Yashwanth K","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Williams","given":"Stewart W","non-dropping-particle":"","parse-names":false,"suffix":""},{"dropping-particle":"","family":"Martina","given":"Filomeno","non-dropping-particle":"","parse-names":false,"suffix":""}],"id":"ITEM-1","issued":{"date-parts":[["2015"]]},"page":"17-25","title":"ADDITIVE MANUFACTURE OF LARGE STRUCTURES: ROBOTIC OR CNC SYSTEMS?","type":"paper-conference"},"uris":[""]}],"mendeley":{"formattedCitation":"[84]","plainTextFormattedCitation":"[84]"},"properties":{"noteIndex":0},"schema":""}[84].However, some problems are still limiting the use of robots in the field of additive manufacturing. Controlling both the robotic and additive manufacturing systems at the same time is one of the main problems. Current slicing algorithms are not able to generate G-code data compatible with the robot language and there are no standards regarding the information flow linking a CAD system and the robotic-assisted additive manufacturing processes. Moreover, the quality of final AM products is mainly related to the accuracy of the motion systems of the AM machines. Therefore, the use of a robot manipulator to control an AM system can be resulted in poor part quality because of the low accuracy of robotic systems.For the fabrication of very large objects multiple robots can also be used increasing productivity but putting also some issues related to security, interface areas for the activities of these robots and to avoid obstacles. This will the case of construction, where multiple robotic-assisted additive manufacturing systems could be used both off-site and on-site. In the last case there it is also possible to develop more sustainable manufacturing approaches by using materials available in the vicinity of the construction area. The rapid development of vision systems offers new opportunities to develop integrated systems allowing robots to “see” and adapt their functions in real-time due to changes in the surrounding environment. This will be also facilitated by the introduction of artificial intelligence (AI) into the robotics system, allowing to develop smart systems, optimising production processes and selecting the most suitable fabrication strategy to produce a part with improved properties. In the medical field, it is expected that robotic-assisted AM systems will be used for in situ printing of skin or cartilage replacements or bone grafts.Acknowledgements The first author acknowledges the support received from the Ministry of Education of Turkey to conduct her PhD.ReferencesADDIN Mendeley Bibliography CSL_BIBLIOGRAPHY 1.B. 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