3D Printing And Freeform Surface Coating Based on 6DOF Robot At present, most of the 3D printing facilities are 3 degrees of freedom (DOF) that formed by planar stacking, which cannot achieve freeform surface spraying or other high DOF required operations. However, in a way, this problem can be solved by using a 6axis manipulator, which is the future development trend of the 3D printing facilities. In this paper, a UR manipulator is used to realize the 3D printing function, especially the coating procedure of biomaterials, such as coating hydroxyapatite on the surface of artificial models. By dismantling the steps of our methodology, we firstly obtain the point cloud data of the 3D models and reconstruct the point cloud with a straightforward algorithm for the further subsequent path planning of UR manipulator for 3D printing. After that, the control parameter calculation of the printing path of UR is explained in detail. Finally, the printing accuracy of UR and interlayer uniformity of the 3D model are optimized by iterating the related experiments. The highquality printed samples of the 3D models prove that our research has successfully achieved the practical application of UR manipulator in 3D printing.

Printingwhilemoving: a new paradigm for largescale robotic 3D Printing Building and Construction have recently become an exciting application ground for robotics. In particular, rapid progress in material formulation and in robotics technology has made robotic 3D Printing of concrete a promising technique for insitu construction. Yet, scalability remains an important hurdle to widespread adoption: the printing systems (gantrybased or armbased) are often much larger than the structure to be printed, hence cumbersome. Recently, a mobile printing systemxe2x80x93a manipulator mounted on a mobile base xe2x80x93 was proposed to alleviate this issue: such a system, by moving its base, can potentially print a structure larger than itself. However, the proposed system could only print while being stationary, imposing thereby a limit on the size of structures that can be printed in a single take. Here, we develop a system that implements the printingwhilemoving paradigm, which enables printing singlepiece structures of arbitrary sizes with a single robot. This development requires solving motion planning, localization, and motion control problems that are specific to mobile 3D Printing. We report our framework to address those problems, and demonstrate, for the first time, a printingwhilemoving experiment, wherein a 210 cm xc3x97 45 cm xc3x97 10 cm concrete structure is printed by a robot arm that has a reach of 87 cm.