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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.

With the development of 3D printing or additive manufacturing (AM), curved layer fused deposition modeling (CLFDM) has been researched to cope with the flat layer AM inherited problems, such as stair-step error, anisotropy and the time-cost and material-cost problems from the supporting structures. As one type of CLFDM, cylindrical slicing has obtained some research attention. However, it can only deal with rotationally symmetrical parts with a circular slicing layer, limiting its application. This paper aims to propose a ray-based slicing method to increase the inter-layer strength of flat layer-based AM parts to deal with more general revolving parts.

Specifically, the detailed algorithm and implementation steps are given with several examples to enable readers to understand it better. The combination of ray-based slicing and helical path planning has been proposed to consider the nonuniform path spacing between the adjacent paths in the same curved layer. A brief introduction of the printing system is given, mainly including a 3D printer and the graphical user interface.

The preliminary experiments are successfully conducted to verify the feasibility and versatility of the proposed and improved slicing method for the revolving thin-wall parts based on a rotary 3D printer.

This research is early-stage work, and the authors are intended to explore the process and show the initial feasibility of ray-based slicing for revolving thin-wall parts using a rotary 3D printer. In general, this research provides a novel and feasible slicing method for multiaxis rotary 3D printers, making manufacturing revolving thin-wall and complex parts possible.

Two-level support with Level 1 consisting of a set of beams and Level 2 consisting of a tree-like structure is an efficient support structure for extrusion-based additive manufacturing (EBAM). However, the literature for finding a slim two-level support is rare. The purpose of this paper is to design a lightweight two-level support structure for EBAM.

To efficiently solve the problem, the lightweight design problem is split into two subproblems: finding a slim Level 1 support and a slim Level 2 support. To solve these two subproblems, this paper develops three efficient metaheuristic algorithms, i.e. genetic algorithm (GA), genetic programming (GP) and particle swarm optimization (PSO). They are problem-independent and are powerful in global search. For the first subproblem, considering the path direction is a critical factor influencing the layout of Level 1 support, this paper solves it by splitting the overhang region into a set of subregions, and determining the path direction (vertical or horizontal) in each subregion using GA. For the second subproblem, a hybrid of two metaheuristic algorithms is proposed: the GP manipulates the topologies of the tree support, while the PSO optimizes the position of nodes and the diameter of tree branches. In particular, each chromosome is encoded as a single virtual tree for GP to make it easy to manipulate Crossover and Mutation. Furthermore, a local strategy of geometric search is designed to help the hybrid algorithm reach a better result.

Simulation results show that the proposed method is preferred over the existing method: it saves the materials of the two-level support up to 26.34%, the materials of the Level 1 support up to 6.62% and the materials of the Level 2 support up to 37.93%. The proposed local strategy of geometric search can further improve the hybrid algorithm, saving up to 17.88% of Level 2 support materials.

The proposed approach for sliming Level 1 support requires the overhanging region to be a rectilinear polygon and the path direction in a subregion to be vertical or horizontal. This limitation limits the further material savings of the Level 1 support. In future research, the proposed approach can be extended to handle an arbitrary overhang region, each with several choices of path directions.

The details of how to integrate the proposed algorithm into the open-source program CuraEngine 4.13.0 is presented. This is helpful for the designers and manufacturers to practice on their own 3D printers.

The path planning of the overhang is a critical factor influencing the distribution of supporting points and will thus influence the shape of the support structure. Different from existing approaches that use single path directions, the proposed method optimizes the volume of the support structure by planning hybrid paths of the overhangs.

The number of people with special needs, including citizens and military personnel, has increased as a result of terrorist attacks and challenging conditions in Iraq and other countries. With almost 80% of the world’s amputees having below-the-knee amputations, Iraq has become a global leader in the population of amputees. Important components found in lower limb prostheses include the socket, pylon (shank), prosthetic foot and connections.

There are two types of prosthetic feet: articulated and nonarticulated. The solid ankle cushion heel foot is the nonarticulated foot that is most frequently used. The goal of this study is to use a composite filament to create a revolutionary prosthetic foot that will last longer, have better dorsiflexion and be more stable and comfortable for the user. The current study, in addition to pure polylactic acid (PLA) filament, 3D prints test items using a variety of composite filaments, such as PLA/wood, PLA/carbon fiber and PLA/marble, to accomplish this goal. The experimental step entails mechanical testing of the samples, which includes tensile testing and hardness evaluation, and material characterization by scanning electron microscopy-energy dispersive spectrometer analysis. The study also presents a novel design for the nonarticulated foot that was produced with SOLIDWORKS and put through ANSYS analysis. Three types of feet are produced using PLA, PLA/marble and carbon-covered PLA/marble materials. Furthermore, the manufactured prosthetic foot undergoes testing for dorsiflexion and fatigue.

The findings reveal that the newly designed prosthetic foot using carbon fiber-covered PLA/marble material surpasses the PLA and PLA/marble foot in terms of performance, cost-effectiveness and weight.

To the best of the author’s knowledge, this is the first study to use composite filaments not previously used, such as PLA/wood, PLA/carbon fiber and PLA/marble, to design and produce a new prosthetic foot with a longer lifespan, improved dorsiflexion, greater stability and enhanced comfort for the patient. Beside the experimental work, a numerical technique specifically the finite element method, is used to assess the mechanical behavior of the newly designed foot structure.

This paper aims to address the development and implementation of “AltPrint,” a slicing algorithm based on a new filling process planning from a variation in the deposited material geometry. AltPrint enables changes in the extruded material flow toward local variations in stiffness. The technical feasibility evaluation was conducted experimentally by fused filament fabrication (FFF) process of snap-fit subjected to a mechanical cyclical test.

The methodology is based on the estimation of the parameter E from the mathematical relationships among the variation of the material in the material flow, nozzle geometry and extrusion parameters. Calibration, validation and analysis of the printed specimens were divided into two moments, of which the first refers to the material responses (flexural and dynamic mechanical analysis) and the second involves the analysis of the printed components with localized flow properties (for estimating the response to cyclic loading). Finite element analysis assisted in the comparison of two snap-fit geometries, one traditional and one generated by AltPrint. Finally, three examples of compliant mechanisms were developed to demonstrate the potential of the algorithm in the generation of functional prototypes.

The contribution of AltPrint is the variable fill width integrated with the slicing software that varies the print parameters in different regions of the object. The alternative extrusion method based on material rate variation was conceived as an “open software” available in GitHub platform, hence, open manufacturing with initial focus on desktop 3D printer based on FFF. The slicing method provides deposited variable-width segments in an organized and replicable filling strategy, resulting in mechanical properties variations in specific regions of a part. It was implemented and evaluated experimentally and indicated potential applications in parts manufactured by the additive process based on extrusion, which requires local flexibilities.

This paper presents a new alternative method for application in an open additive manufacturing context, specifically for additive extrusion techniques that enable local variations in the material flow. Its potential for manufacturing functional parts, which require flexibility due to cyclic loading, was demonstrated by fabrication and experimental evaluations of parts made in acrylonitrile butadiene styrene filament. The changes proposed by AltPrint enable geometric modifications in the response of the printed parts. The proposed slicing and filling control of parameters is inserted in a context of design for additive manufacturing and shows great potential in the area of product design.

This study aims to thoroughly examine the milling process applied to fused filament fabrication (FFF) parts. The primary objective is to identify the key variables in creating smooth surfaces on FFF specimens and establish trends about specific parameters.

In this study, PLA and ABS samples fabricated by FFF are subjected to side milling in several experiments. Achievable surface quality is studied in relation to material properties, milling parameters, tooling and macrostructure. The surface finish is quantified using profile measurements of the processed surfaces. The study classifies the created chips into categories that can be used as criteria for the anticipated quality. Spectral analysis is used to examine the various surface formation modes. Thermal monitoring is used to track chip formation and surface temperature changes during the milling process.

This study reveals that effective heat dissipation through proper chip formation is vital for maintaining high surface quality. Recommended methodology demands using a tool with a substantial flute volume, using high positive rake and clearance angles and optimizing the feed-per-tooth and cutting speed. Disregarding these guidelines may cause the surface temperature to surpass the material’s glass transition, resulting in inferior quality characterized by viscous folding. For FFF thermoplastics, optimal milling can bring the average surface roughness down to the micron level.

This research contributes to the field by providing valuable guidance for achieving superior results in milling FFF parts. This study includes a concise summary of the theoretically relevant insights, presents verification of the key factors by qualitative analysis and offers optimal milling parameters for 3D-printed thermoplastics based on systematic experiments.

The purpose of this study is, to compare laser-based additive manufacturing and subtractive methods. Laser-based manufacturing is a widely used, noncontact, advanced manufacturing technique, which can be applied to a very wide range of materials, with particular emphasis on metals. In this paper, the governing principles of both laser-based subtractive of metals (LB-SM) and laser-based powder bed fusion (LB-PBF) of metallic materials are discussed and evaluated in terms of performance and capabilities. Using the principles of both laser-based methods, some new potential hybrid additive manufacturing options are discussed.

Production characteristics, such as surface quality, dimensional accuracy, material range, mechanical properties and applications, are reviewed and discussed. The process parameters for both LB-PBF and LB-SM were identified, and different factors that caused defects in both processes are explored. Advantages, disadvantages and limitations are explained and analyzed to shed light on the process selection for both additive and subtractive processes.

The performance of subtractive and additive processes is highly related to the material properties, such as diffusivity, reflectivity, thermal conductivity as well as laser parameters. LB-PBF has more influential factors affecting the quality of produced parts and is a more complex process. Both LB-SM and LB-PBF are flexible manufacturing methods that can be applied to a wide range of materials; however, they both suffer from low energy efficiency and production rate. These may be useful when producing highly innovative parts detailed, hollow products, such as medical implants.

This paper reviews the literature for both LB-PBF and LB-SM; nevertheless, the main contributions of this paper are twofold. To the best of the authors’ knowledge, this paper is one of the first to discuss the effect of the production process (both additive and subtractive) on the quality of the produced components. Also, some options for the hybrid capability of both LB-PBF and LB-SM are suggested to produce complex components with the desired macro- and microscale features.

Existing robot-assisted minimally invasive surgery (RMIS) system lacks of force feedback, and it cannot provide the surgeon with interaction forces between the surgical instruments and patient’s tissues. This paper aims to restore force sensation for the RMIS system and evaluate effect of force sensing in a master-slave manner.

This paper presents a four-DOF surgical instrument with modular joints and six-axis force sensing capability and proposes an incremental position mode master–slave control strategy based on separated position and orientation to reflect motion of the end of master manipulator to the end of surgical instrument. Ex-vivo experiments including tissue palpation and blunt dissection are conducted to verify the effect of force sensing for the surgical instrument. An experiment of trajectory tracking is carried out to test precision of the control strategy.

Results of trajectory tracking experiment show that this control strategy can precisely reflect the hand motion of the operator, and the results of the ex-vivo experiments including tissue palpation and blunt dissection illustrate that this surgical instrument can measure the six-axis interaction forces successfully for the RMIS.

This paper addresses the important role of force sensing and force feedback in RMIS, clarifies the feasibility to apply this instrument prototype in RMIS for force sensing and provides technical support of force feedback for further clinical application.

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.

In the implementation of large-size additive manufacturing (AM), the large printing area can be established by using the tiled and fixed multiple printing heads or the single dynamic printing head moving in the x–y plane, which requires a layer decomposition after the mesh slicing to generate segmented infill areas. The data processing flow of these schemes is redundant and inefficient to some extent, especially for the processing of complex stereolithograph (STL) models. It is of great importance in improving the overall efficiency of large-size AM technics software by simplifying the redundant steps. This paper aims to address these issues.

In this paper, a method of directly generating segmented layered infill areas is proposed for AM. Initially, a vertices–mesh hybrid representation of STL models is constructed based on a divide-and-conquer strategy. Then, a trimming–mapping procedure is performed on sliced contours acquired from partial surfaces. Finally, to link trimmed open contours and inside-signal square corners as segmented infill areas, a region-based open contour closing algorithm is carried out in virtue of the developed data structures.

In virtue of the proposed approach, the segmented layered infill areas can be directly generated from STL models. Experimental results indicate that the approach brings us the good property of efficiency, especially for complex STL models.

The proposed approach can generate segmented layered infill areas efficiently in some cases.

The region-based layered infill area generation approach discussed here will be a supplement to current data process technologies in large-size AM, which is very suitable for parallel processing and enables us to improve the efficiency of large-size AM technics software.