Ajith Kumar Veeraboina



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Additive manufacturing (AM), popularly known as 3D printing, is a technology used to produce a physical part directly from its corresponding digital 3D model design. Existing 3D printing techniques are based on the gantry system and are limited to only three degrees of freedom. The printing is possible only in uni-directional and is anisotropic when force is applied to the printed part. Complex 3D models with overhanging features need support structures in uni-directional printing. In this work, we develop a novel process that addresses the limitations of conventional 3D printing by using two 6DOF manipulators. A simulation model of the manipulators is designed in the Motosim software and build an experimental setup. By replacing the gantry system with one or two 6DOF industrial robotic arms, it will have additional degrees of freedom for multidirectional printing. Furthermore, the support structures can be avoided, and the printed part mechanical properties can be improved.

Publication Date


Project Designation

Graduate Research

Primary Advisor

Raul E. Ordonez

Primary Advisor's Department

Electrical and Computer Engineering


Stander Symposium project, School of Engineering

Six Degrees of Freedom (6DOF) Robotic Additive Manufacturing