Kinematic Analysis and Printing Experiments of a Multi-DOF Robotic Arm-Based Additive Manufacturing

Abstract This study developed a multi-degree-of-freedom (DOF) robotic arm additive manufacturing(AM) device to address the limitations of traditional three-axis and five-DOF additive manufacturing path planning, thereby enables unsupported printing for curved-surface models. The research employed a structural configuration combining a six-DOF robotic arm with a two-DOF Positioning machine. The kinematics model of the additive manufacturing system of the multi-degree-of-freedom robot arm is established by using the standard Denavit-Hartenberg (D-H) parameter method, and the forward and inverse kinematics equations are deduced systematically. Experimental results demonstrate that the proposed device can efficiently complete printing tasks for simple curved-surface components, providing both hardware solutions and methodological support for multi- DOF additive manufacturing technologies.