Abstract
Rapid free-form printing of heated polymeric materials, whereby an extruder is attached to a robotic arm, is a growing field. In order to properly plan a complex tool path, one needs to determine the dynamic thermomechanical response of the extruded filament material as the robot arm is moving in free-space. Accordingly, the analysis in this work involves: •Kinematics of the robot arm and the extrusion-printer head,•Dynamics of the extruded polymer filament,•Thermal conduction along the length of the heated filament,•Convective and radiative cooling of the filament through the surroundings and•Curing and solidification of the filament.Numerical simulations are undertaken to illustrate the basic model and a Machine Learning Algorithm is developed to optimize the robotic system to deliver a prespecified structure. Detailed extensions are also discussed.
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