This research investigates design and fabrication strategies for the creation of non-planar layered print paths using robotic extrusion-based additive manufacturing of thermoplastics, targeting large-scale applications.

The advent of robotic arms has created great potential in the 3D printing industry for the realization of non-planar paths that allow transitioning between different orientations during the print. However, this potential is often not fully realized due to the various challenges associated with the design of feasible non-planar paths. We address this need by developing curved paths design methodologies, with focus on enabling user control over the slicing, so that it can be part of the design process, rather than a post-processing step.