## 4 Experimental Results
### Case Five: Experimental Outcomes of Producing a Real Part  
In this part of the experimental study, real parts were produced using the designed system and the results are shared herein. By using printers with degrees of freedom of more than three axes, limitations, such as the need for support in the manufacture of complex parts, are eliminated, and the print time is reduced due to the use of a 5-DOF parallel mechanism. In addition, due to the possibility of defining the print directions of the parts, increasing the strength of the final part can be achieved. By using a five-axis 3D printer, the parts that normally require support with angles greater than 45 degrees can be printed without the need for a support system and do not use a support system at all. It is expected that due to the lack of support, a significant improvement is achieved in the surface quality of the final product, and the strength of the final piece increases due to the ability to print in different directions. The speed and quality of printing also increase, and the cost of printing decreases. According to the advantages of the five-axis printer compared to the three-axis printer, it is necessary to print a part using the three-axis printer. Therefore, to print the part using both printers, it is necessary to check the output parameters and examine the advantages and disadvantages of both printers. According to the conducted studies, it is expected that the surface quality of the part produced using a five-axis printer is better than that of a three-axis printer. Among the reasons for the superiority of the surface quality in five-axis printing, parts that need support for manufacturing can be printed without support. In five-axis printing, the direction of the nozzle can always be set perpendicular to the surface, which is known as tangential printing. In the following, the same part is produced with two different printers, and different parameters in the part produced by each printer are compared with each other. The selected piece for this research was an elbow-shaped pipe. This piece was produced once by a three-axis printer (Figure 13a,b) and another time using a five-axis printer (Figure 14a,b). In each of the devices, parameters such as print time, surface quality, appearance of the part, etc., were checked and compared with each other. According to the examination of the parts produced by both methods and due to the layer-by-layer method of creating a 3D printer, the surface on which the nozzle is perpendicular during printing has better mechanical properties than the other directions. On this basis, the part produced with a five-axis printer is stronger than the three-axis mode. Also, due to the fact that during the removal of the support, the surface of the piece is damaged and becomes rougher, parts printed with a 3D printer have a lower level of quality. In addition, when printing perpendicular to the surface in the five-axis printing, a smoother surface texture is observed on the surface of the parts produced using this method. The production speed for the part shown in Figure 14, with the five-axis method being approximately three times that of the part produced in Figure 13 with the three-axis method. \begin{table}
\begin{tabular}{c c c c} \hline
**Case 4** & **Settling Time (s)** & **MSE** & **ISE** \\ \hline Motor 1 SMC & 0.321 & 2.72 \(\times\)\(10^{-4}\) & 7.39 \(\times\)\(10^{-8}\) \\ Motor 3 SMC & 0.317 & 2.65 \(\times\)\(10^{-4}\) & 7.04 \(\times\)\(10^{-8}\) \\ Motor 1 PID & 0.402 & 0.0018 & 3.08 \(\times\)\(10^{-6}\) \\ Motor 3 PID & 0.384 & 0.0014 & 2.03 \(\times\)\(10^{-6}\) \\ Motor 2 SMC & 0.791 & 0.0019 & 3.52 \(\times\)\(10^{-6}\) \\ Motor 4 SMC & 0.787 & 0.0019 & 3.78 \(\times\)\(10^{-6}\) \\ Motor 2 PID & 0.823 & 0.0065 & 4.22 \(\times\)\(10^{-5}\) \\ Motor 4 PID & 0.805 & 0.0054 & 2.91 \(\times\)\(10^{-5}\) \\ \hline \end{tabular}
\end{table} 
Table 5: Outcomes of the case four applications.