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Robotic wire and arc additive manufacturing (RWAAM) is becoming more and more popular for its capability of fabricating metallic parts with complicated structure. To unlock the potential of 6-DOF industrial robots and improve the power of additive manufacturing, this paper aims to present a method to fabricate curved overhanging thin-walled parts free from turn table and support structures.

Five groups of straight inclined thin-walled parts with different angles were fabricated with the torch aligned with the inclination angle using RWAAM, and the angle precision was verified by recording the growth of each layer in both horizontal and vertical directions; furthermore, the experimental phenomena was explained with the force model of the molten pool and the forming characteristics was investigated. Based on the results above, an algorithm for fabricating curved overhanging thin-walled part was presented and validated.

The force model and forming characteristics during the RWAAM process were investigated. Based on the result, the influence of the torch orientation on the weld pool flow was used to control the pool flow, then a practical algorithm for fabricating curved overhanging thin-walled part was proposed and validated.

Regarding the fabrication of curved overhanging thin-walled parts, given the influences of the torch angles on the deposited morphology, porosity formation rate and weld pool flow, the flexibility of 6-DOF industrial robot was fully used to realize instant adjustment of the torch angle. In this paper, the deposition point and torch orientation of each layer of a robotic fabrication path was determined by the contour equation of the curve surface. By adjusting the torch angle, the pool flow was controlled and better forming quality was acquired.

Because of the advantages of high deposition efficiency and low manufacturing cost compared with other additive technologies, robotic wire arc additive manufacturing (WAAM) technology has been widely applied for fabricating medium- to large-scale metallic components. The additive manufacturing (AM) method is a relatively complex process, which involves the workpiece modeling, conversion of the model file, slicing, path planning and so on. Then the structure is formed by the accumulated weld bead. However, the poor forming accuracy of WAAM usually leads to severe dimensional deviation between the as-built and the predesigned structures. This paper aims to propose a visual sensing technology and deep learning–assisted WAAM method for fabricating metallic structure, to simplify the complex WAAM process and improve the forming accuracy.

Instead of slicing of the workpiece modeling and generating all the welding torch paths in advance of the fabricating process, this method is carried out by adding the feature point regression branch into the Yolov5 algorithm, to detect the feature point from the images of the as-built structure. The coordinates of the feature points of each deposition layer can be calculated automatically. Then the welding torch trajectory for the next deposition layer is generated based on the position of feature point.

The mean average precision score of modified YOLOv5 detector is 99.5%. Two types of overhanging structures have been fabricated by the proposed method. The center contour error between the actual and theoretical is 0.56 and 0.27 mm in width direction, and 0.43 and 0.23 mm in height direction, respectively.

The fabrication of circular overhanging structures without using the complicate slicing strategy, turning table or other extra support verified the possibility of the robotic WAAM system with deep learning technology.

This paper aims to present a series of approaches for three-related issues in multiaxis in wire and arc additive manufacturing (WAAM) as follows: how to achieve a stable and robust deposition process and maintain uniform growth of the part; how to maintain consistent formation of a melt pool on the surface of the workpiece; and how to fabricate an overhanging structure without supports.

The principal component analysis-based path planning approach is proposed to compute the best scanning directions of slicing contours for the generation of filling paths, including zigzag paths and parallel skeleton paths. These printing paths have been experimented with in WAAM. To maintain consistent formation of a melt pool at overhanging regions, the authors introduce definitions for the overhanging point, overhanging distance and overhanging vector, with which the authors can compute and optimize the multiaxis motion. A novel fabricating strategy of depositing the overhanging segments as a support for the deposition of filling paths is presented.

The second principal component of a planar contour is a reasonable scanning direction to generate zigzag filling paths and parallel skeleton filling paths. The overhanging regions of a printing layer can be supported by pre-deposition of overhanging segments. Large overhangs can be successfully fabricated by the multiaxis WAAM process without supporting structures.

An intelligent approach of generating zigzag printing paths and parallel skeleton printing paths. Optimizations of depositing zigzag paths and parallel skeleton paths. Applications of overhanging point overhanging distance and overhanging vector for multiaxis motion planning. A novel fabricating strategy of depositing the overhanging segments as a support for the deposition of filling paths.

Conformal cooling channels in additively manufactured molds are superior over conventional channels in terms of cooling control, part warpage and lead time. The heat transfer ability of cooling channels is determined by their geometry and surface roughness. Laser powder bed fusion manufactured channels have an inherent process-induced dross formation that may significantly alter the actual shape of nominal channels. Therefore, it is crucial to be able to predict the expected surface roughness and changes in the geometry of metal additively manufactured conformal cooling channels. The purpose of this paper is to present a new methodology for predicting the realistic design of laser powder bed fusion channels.

This study proposes a methodology for making nominal channel design more realistic by the implementation of roughness prediction models. The models are used for altering the nominal shape of a channel to its predicted shape by point cloud analysis and manipulation.

A straight channel is investigated as a simple case study and validated against X-ray computed tomography measurements. The modified channel geometry is reconstructed and meshed, resulting in a predicted, more realistic version of the nominal geometry. The methodology is successfully tested on a torus shape and a simple conformal cooling channel design. Finally, the methodology is validated through a cooling test experiment and comparison with simulations.

Accurate prediction of channel surface roughness and geometry would lead toward more accurate modeling of cooling performance.

A robust start to finish method for realistic geometrical prediction of metal additive manufacturing cooling channels has yet to be proposed. The current study seeks to fill the gap.

This paper aims to present a multi-axis additive robot manufacturing system (ARMS) and demonstrate its beneficial capabilities.

ARMS was constructed around two robot arms and a fused filament fabrication (FFF) extruder. Quantitative experiments are conducted to investigate the effect of printing at different orientations with respect to gravity, the effect of dynamically changing build orientation with respect to the build tray when printing overhanging features, the effect of printing curved parts using curved, conformal layers. These capabilities are combined to print an integrated demonstrator showing potential practical benefits of the system.

Orientation with respect to gravity has no effect on print quality; dynamically changing build orientation allows overhangs up to 90° to be cleanly printed without support structures; printing an arch with conformal layers significantly increases its strength compared to conventional printing.

The challenge of automatic slicing algorithms has not been addressed for multi-axis printing. It is shown that ARMS could eventually enable printing of fully-functional prototypes with embedded components.

This work is the first to prove that the surface roughness of an FFF part is independent of print orientation with respect to gravity. The use of two arms creates a novel system with more degrees of freedom than existing multi-axis printers, enabling studies on printing orientation relationships and printing around inserts. It also adds to the emerging body of multi-axis literature by verifying that curved layers improve the strength of an arch which is steeply curved and printed with the nozzle remaining normal to the curvature.

Amongst various additive manufacturing (AM) techniques for realizing the complex metallic objects, weld-deposition (arc)-based directed energy AM technique is attaining more focus over commercially available powder bed fusion techniques. This is because of the capability of high deposition rates, high power and material utilization, simpler setup and less initial investment of arc-based AM. Nevertheless, realization of sudden overhanging features through arc-based weld-deposition techniques is still a challenging task because of the necessity of support structures. This paper aims to describe a novel methodology for producing complex metallic objects with sudden overhangs without using supports.

The realization of complex metallic objects with sudden overhangs (without using supports) is possible by reorienting the workpiece and/or deposition head at every instance using higher order kinematics (5-axis setup) to make sure the overhanging feature is in line to the deposition direction.

In the absence of universally applicable support mechanism, deposition of overhanging features remains one of the main challenges in AM. A separate support structure is often necessary for depositing the overhanging features. Small overhang features are usually possible by a little overextension from the previous layer. Nevertheless, deposition of large gradually varying overhangs and sudden overhangs with complex features without support structures is a challenging task in any AM process. This demands higher order kinematics which calls for inclined and/or orthogonal slicing and area filling.

The unique aspect of this paper is the identification of sudden overhang feature from a tessellated computer-aided design (.stl) file and generates an orthogonal tool path for deposition for sudden overhangs. An in-house MATLAB routine has been developed and presented for performing the same. This methodology helps in realization of sudden overhangs without use of supports. To validate proposed technique, various illustrative case studies have been taken up for deposition.

Accuracy and building time are two important concerns in rapid prototyping (RP). Usually there exists a trade‐off between these two aspects pertaining to model building in RP. The use of variable thickness slicing can satisfy these two requirements to some extent. Introduces an adaptive variable thickness slicer implemented on a solid CAD modeller. The slicer employs a genetic algorithm to find the minimum layer thickness allowed at referenced height with a given cusp height tolerance. By introducing the variable thickness slicing technique, the optimal orientation for part building in RP systems is considered. Seeks to obtain the optimal orientation with adaptive slicing for part building in stereolithography (SLA) systems. Takes into consideration building time, accuracy and stability of the part when determining the optimal orientation. Results show that the proposed approach gives an effective and practical solution for building parts with curved surfaces.

The purpose of this paper is to solve the problems of poor mechanical properties, high surface roughness and waste support materials of thin-walled parts fabricated by flat-layered additive manufacturing process.

This paper proposes a curved-layered material extrusion modeling process with a five-axis motion mechanism. This process has advantages of the platform rotating, non-support printing and three-dimensional printing path. First, the authors present a curved-layered algorithm by offsetting the bottom surface into a series of conformal surfaces and a toolpath generation algorithm based on the geodesic distance field in each conformal surface. Second, they introduce a parallel five-axis printing machine consisting of a printing head fixed on a delta-type manipulator and a rotary platform on a spherical parallel machine.

Mechanical experiments show the failure force of the five-axis printed samples is 153% higher than that of the three-axis printed samples. Forming experiments show that the surface roughness significantly decreases from 42.09 to 18.31 µm, and in addition, the material consumption reduces by 42.90%. These data indicate the curved-layered algorithm and five-axis motion mechanism in this paper could effectively improve mechanical properties and the surface roughness of thin-walled parts, and realize non-support printing. These methods also have reference value for other additive manufacturing processes.

Previous researchers mostly focus on printing simple shapes such as arch or “T”-like shape. In contrast, this study sets out to explore the algorithm and benefits of modeling thin-walled parts by a five-axis machine. Several validated models would allow comparability in five-axis printing.

The purpose of this paper is to investigate the research approach to optimize shape accuracy, dimensional accuracy and density of customized orthodontic production fabricated by selective laser melting (SLM).

A series of process experiments were applied to fabricating customized brackets directly by SLM, using 316L stainless steel. Shape accuracy can be optimized through the study on fabricating characteristics of non‐support overhanging structure. A scanning strategy combining contour scanning with orthogonal scanning, which differ in scanning speed and spot compensations, was proposed to improve dimensional accuracy. Scanning laser surface re‐melting was added to enhance the SLM density.

Optimized SLM parameters lead to high shape precision of customized brackets, and the average size error of bracket slot is less than 10 μm. The customized brackets density is more than 99 per cent, and the surface quality and mechanical properties meet the requirements.

The paper presents the state of the art in SLM of customized production (especially medical appliances) by optimizing part properties. It is the first time that SLM is employed in the manufacturing of customized orthodontic products. It shows the original research on overhanging structure and compound scanning strategy, approach to optimize SLM part accuracy. An improved laser surface re‐melting is employed in the density optimization.

This paper aims to develop a new slicing method for fused deposition modelling (FDM), the curved layer adaptive slicing (CLAS), combining adaptive flat layer and curved layer slicing together.

This research begins with a review of current curved layer and adaptive slicing algorithms employed in the FDM and further improvement of the same, where possible. The two approaches are then integrated to develop the adaptive curved layer slicing based on the three-plane intersection method for curved layer offsetting and consideration of facet angles together with the residual heights for adaptive slicing. A practical implementation showed that curved layer adaptive layers respond in similar lines to the flat layer counterparts in terms of the mechanical behaviour of FDM parts.

CLAS is effective in capturing sharply varying surface profiles and other finer part details, apart from imparting fibre continuity. Three-point bending tests on light curved parts made of curved layers of varying thicknesses prove thicker curved layers to result in better mechanical properties.

The algorithms developed in this research can handle relatively simple shapes to develop adaptive curved slices, but further developments are necessary for more complex shapes. The test facilities also need further improvements, to be able to programmatically implement adaptive curved layer slicing over a wide range of thicknesses.

When fully developed and implemented, CLAS will allow for better FDM part construction with lesser build times.

This research fills a gap in terms of integrating both curved layer and adaptive slicing techniques to better slice and build a part of given geometry using FDM.