A Novel Parametrical Approach to the Ribbed Element Slicing Process in Robotic Additive Manufacturing

Additive manufacturing is one of the most common technologies used in prototyping and manufacturing usable parts. Currently, industrial robots are also increasingly being used to carry out this process. This is due to a robot's capability to fabricate components with structural configurations that are unattainable using conventional 3D printers. The number of degrees of freedom of the robot, combined with its working range and precision, allows the construction of parts with greater dimensions and better strength in comparison to conventional 3D printing. However, the implementation of a robot into the 3D printing process requires the development of novel solutions to streamline and facilitate the prototyping and manufacturing processes. This work focuses on the need to develop new slicing methods for robotic additive manufacturing. A solution for alternative control code generation without external slicer utilization is presented. The implementation of the proposed method enables a reduction of over 80% in the time required to generate new G-code, significantly outperforming traditional approaches. The paper presents a novel approach to the slicing process in robotic additive manufacturing that is adopted for the fused granular fabrication process using thermoplastic polymers.