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The purpose of this study is to present how the thermal energy transmission of circular parts produced in robotized gas metal arc (GMA)-based additive manufacturing was affected by the substrate shape through finite element analysis, including distributions of thermal energy and temperature gradient in the molten pool and deposited layers.

Three geometric shapes, namely, square, rectangle and round were chosen in simulation, and validation tests were carried out by corresponding experiments.

The thermal energy conduction ability of the deposited layers is the best on the round substrate and the worst on the rectangular substrate. The axial maximum temperature gradients in the molten pool along the deposition path with the round substrate are the largest during the deposition process. At the deposition ending moment, the circumferential temperature gradients of all layers with the round substrate are the largest. A large temperature gradient usually stands for a good heat conduction condition. Altogether, the round substrate is more suitable for the fabrication of circular thin-walled parts.

The predicted thermal distributions of the circular thin-walled part with various substrate shapes are helpful to understand the influence of substrate shape on the thermal energy transmission behavior in GMA-based additive manufacturing.

The study aims to fabricate large metal components with overhangs built on cylindrical or conical surfaces with a high dimensional precision. It proposes methods to address the problems of generating tool-paths on cylindrical or conical surfaces simply and precisely, and planning the welding process on these developable surfaces.

The paper presents the algorithm of tool-paths planning on conical surfaces using a parametric slicing equation and a spatial mapping method and deduces the algorithm of five-axis transformation by addressing the rotating question of two sequential points. The welding process is investigated with a regression fitting model on a flat surface, and experimented on a conical surface, which can be flattened onto a flat surface.

The paper provides slicing and path-mapping expressions for cylindrical and conical surfaces and a curvature-speed-width (CSW) model for wire and arc additive manufacturing to improve the surface appearances. The path-planning method and CSW model can be applied in the five-axis fabrication of the prototype of an underwater thruster. The CSW model has a confidence coefficient of 98.02% and root mean squared error of 0.2777 mm. The reverse measuring of the finished blades shows the residual deformation: an average positive deformation of about 0.5546 mm on one side of the blades and an average negative deformation of about −0.4718 mm on the other side.

Because of the chosen research approach, the research results may lack generalizability for the fabrication based on arbitrary surfaces.

This paper presented an integrated slicing, tool-path planning and welding process planning method for five-axis wire and arc additive manufacturing.