## 1 Introduction  
Additive manufacturing technology has brought about a profound shift in the manufacturing sector in recent years and is widely regarded as a fundamental pillar of the third industrial revolution. Additive manufacturing technology is an essential manufacturing strategy that responds to today's more complicated and personalized production demands. Additive manufacturing, in contrast to conventional manufacturing processes, employs a layer-by-layer approach to create products, thereby reducing material waste. This technique has a broad spectrum of applications, spanning from prototype manufacturing to the manufacture of intricate components. An important benefit of additive manufacturing is its ability to enhance design flexibility. The capacity to generate pieces of complexity that cannot be produced using conventional techniques provides designers and engineers with enormous freedom. This fosters creativity and expedites the process of developing new products. As per the article published in _The Economist_ magazine in April 2012, this technique has generated significant attention in both theory and application within the industry, particularly due to its ability to manufacture goods with intricate geometries [1; 2]. Furthermore, the noteworthy aspect of smart additive manufacturing lies in its potential to be very customizable [3; 4; 5; 6]. This approach, whereby each component may be independently manufactured, provides the chance to address client requirements promptly and efficiently. This attribute confers a competitive edge in the market when faced with the requirements of customized goods. Due to its benefits, such as the ability to adapt designs, quickly create prototypes, customize products, and save on materials, this technology has the capacity to enhance production procedures while simultaneously improving product quality and customer happiness. Hence, organizations are increasingly prioritizing the augmentation of their investments in additive manufacturing technology as a crucial strategy to uphold their competitive edge and promptly adapt to evolving market demands. In traditional production methods using machine tools or printers with three linear degrees of freedom, additional add-ons called supports are used. These supports, while necessary, contribute to higher production costs and add complexity to the process. Recently, there has been a significant effort to advance additive manufacturing technology to address the constraints of traditional three-axis systems. Within these advancements, the creation of systems with diverse kinematic structures or more degrees of freedom has significant importance. Utilizing additive manufacturing technology, the utilization of robotic systems equipped with multi-axis parallel kinematic structures facilitates the production of complex-shaped components. These methods circumvent restrictions and enable items to be manufactured more effectively [7]. Within this framework, the improvement of additive manufacturing technology and the use of new kinematic structures could lead to better and more competitive solutions in business settings. This can be achieved by enhancing crucial aspects, such as product durability, surface integrity, and production efficiency. Parallel kinematic mechanisms are preferred in design studies for additive manufacturing technologies because they have the potential to provide greater precision, stiffness, agility, and processing speed compared to Cartesian systems. In the past two decades, four-degrees-of-freedom (4-DOF) parallel mechanisms have garnered significant attention due to their inherent advantages, such as a relatively large workspace, compact structural features, notable load-bearing capabilities, and relatively straightforward motion control [8; 9]. Various parallel robots capable of Schoenflies motion, such as H4, I4, Par4, and C4 mechanisms for high-speed pick-and-place manipulations, have been developed [10; 11; 12; 13].