## 1 Introduction
In contrast to the existing adaptive slicing method, this methodology differs not only in the thickness of each layer but also in the direction in which the object is sliced. The laser-aided manufacturing process (LAMP), a five-axis system that integrates both material additives and removal processes, was created at the University of Missouri-Rolla and serves as an illustrative example. The multi-degree-of-freedom technology enables the LAMP to construct a component with little support structures [28]. A novel creation called the unmanned robotic delta weapon platform (URDWP) is provided in [29]. The URDWP is an automated, teleoperated unmanned weapon system that securely retains and controls the actions of weaponry. This innovation is primarily characterized by the use of a delta robot equipped with three or more parallel kinematic chains (axes). Combat vehicles and unmanned defense vehicles are already equipped with remotely triggered weapons that are operated by robotic remote weapon platforms. Another work focused on the examination of the kinematics and dynamics of a new linearly actuated 4-DOF parallel kinematic machine. This machine was capable of performing three translational motions and one rotating motion. To achieve this objective, the inverse kinematic relations for position, velocity, and acceleration were determined using the closed-loop vector theorem. Next, the dynamics of the mechanism were analyzed using [PERSON]'s approach. Subsequently, a simulated dynamic model of the system was created [30]. Considering the aforementioned limitations, this paper proposes and develops a novel kinematic system design with a parallel kinematic structure as part of a range of research initiatives aimed at tackling the present obstacles in additive manufacturing technology. In contrast to conventional systems that include only three linear degrees of freedom, this research achieved five degrees of freedom by including rotational motions on the x and z axes. This feature was designed to enhance product durability, enhance the quality of wavy surfaces, and save manufacturing time. In line with the above, the primary contribution of this paper is a novel 5-DOF parallel kinematic mechanism (3T2R), which, unlike its predecessors, has a rotational DOF around the x and z axes. In addition to the new proposed design, sliding mode control is performed for the first time in the literature on a multi-axis proposed system with five degrees of freedom for high-accuracy trajectory tracking control. In order to show the advantages of sliding mode control over the other classical control techniques, the classical PID method was applied to the proposed system as a second control approach. The design, implementation, and evaluation of a classical PID method and sliding mode control techniques for the motion control of a novel multi-axis system with five degrees of freedom are provided as the secondary contributions of this paper. The concept design of the proposed system, which includes mechanical components, is first presented, and then the kinematic and dynamic model of the system is determined via mathematical analysis. Then, the position analysis of the proposed system is realized. In order to determine the real-time performance of both controllers, experimental studies were conducted. Experimentally, it was validated that sliding mode control is an efficient and robust control method for the proposed system motion, including unmodeled dynamics. According to the experimental results, it was observed that the mathematical modeling for the proposed system was correct; the SMC method increased the trajectory tracking performance compared to the classical PID method during motion, and SMC is a more robust controller against the uncertainties of the system. The main contribution of this study to the literature is to offer a new perspective on production technologies, directing transformation in the industry, shaping future manufacturing processes, and triggering industrial innovation.