# Suitability of UR5 Robot for Robotic 3D Printing
## 6 Conclusions  
Measuring robot performance characteristics is a key research area in robotics and various manufacturing applications involving robots, such as robotic 3D printing. Robot drift and static compliance are important process metrics for proper robot operation. Therefore, it is crucial to focus on measuring these technical parameters intensively. Drift refers to the undesired deviation of a robot from its intended motion path after a certain distance or time. It can be caused by various factors, such as motor errors resulting in inaccuracies in the angle and speed of rotation in the articulated parts of the robot, inaccuracies in the sensors used, or looseness in the robot's joints. Static compliance of a robot refers to its capability to adjust its pose or shape under external forces without causing permanent deformation. It determines how the robot performs when subjected to external forces on its structure or individual components. Static compliance can significantly affect the robot's accuracy and stability, particularly when handling objects or interacting with theenvironment. Optimizing compliance for specific applications is crucial to achieve the desired level of accuracy.  
The Universal UR5 robot is well suited for 3D-printing applications thanks to several important characteristics. When using commercially available equipment for 3D printing, it is typical to use a device with an accuracy within 0.1 mm. The collaborative robot possesses this level of accuracy, as specified by the manufacturer. With this precision, the robot can execute smooth and complex motions, and complex trajectories for 3D printing in multiple non-planar directions. Furthermore, the robot can operate in a longer duty cycle without experiencing significant problems related to reducing its positioning accuracy. This was confirmed through measurements that verified the robot's drift of unidirectional pose accuracy and pose repeatability, exhibiting an accuracy deviation of less than 0.1 mm.  
The UR5 robot has a collaborative feature that allows the operator to work safely without needing protective barriers. It also has sensors in its joints to prevent damage to the print head while manipulating it, ensuring the print quality and precise layering of the material. Working space is also a commonly observed issue with conventional printers, and the robot has a maximum reach of up to 850 mm, making it more efficient in production and allowing for the production of larger and more complex objects. Programming of the robot is possible through available software such as RoboDK 5.8 software, which can generate the Script program needed to control the robot for 3D printing. The robot has a load capacity of 5 kg, suitable for common 3D-printing purposes, with print heads specialized for common thermoplastic materials. However, it is crucial to monitor the maximum possible speed reached during 3D printing to optimize the process and avoid the occurrence of drift due to rapid changes in motion trajectories and static compliance of the structure manifested by excessive shaking of the structure in the programmed positions of the print head in the 3D printing process.  
[PERSON] processed and evaluated the data and wrote the paper; [PERSON] and M.K. conceptualization; [PERSON] conceived and designed the experiments; [PERSON] and M.K. performed the experiments and measurements; [PERSON], A.D.B. and V.C. performed the data curation; M.P. writing--review and editing. All authors have read and agreed to the published version of the manuscript.  
This paper was elaborated in the framework of the project VEGA 1/0121/23 and KEGA 002 TUKE-4/2023.  
Not applicable.  
The original contributions presented in the study are included in the article, further inquiries can be directed to the corresponding author.  
The authors declare no conflicts of interest. The founding sponsors had no role in the design of this study; in the collection, analyses, or interpretation of data; in the writing of the manuscript; or in the decision to publish the results.