Large-Format 3D Printing with Hardware and Software Complex “RoboPrint”

This paper presents the RoboPrint software and hardware complex, which implements the approach of creating large parts and tooling from composite thermoplastic materials using 3D printing. The complex can produce parts larger than 10 meters in size for each of the XYZ measurements. This was achieved by abandoning the frame and placing the print heads on freely moving unmanned wheeled robots. In turn, the rejection of the frame became possible thanks to the use of the kinematic scheme of the printer developed by us, and control over the positioning of robots is carried out by the radio navigation system, which is on board each robot. The coordination of the work of the complex is carried out by the swarm control method, and allows the production of a large part by simultaneous printing with a variety of printheads. The use of multiple print heads significantly reduces the production time of the part. The key systems of each printer are equipped with feedback, as well as an automatic quality control system.