Comparison of Conventional and Robotic Fused Filament Fabrication on Silicone Build Plates

The objective of this study is the investigation of the transferability of the material extrusion process from conventional to robotic fabrication on silicone build plates for use in Enhanced Multipoint Moulding with Additive Attachments. Therefore, the study is based on two series of experiments. The first series of tests used a conventional plant extended by a silicone construction platform. In comparison, a six-axis industrial robot was chosen to produce the test specimens in the second series of tests. The comparisons of adhesion strengths and relative shape deviations are used to validate the transferability. The results of the tests show a very good transferability of the process from conventional to robotic production. Whilst angular specimen geometries can be transferred directly, for round specimen geometries, the results show a need for further adaptation to the robot kinematics. The round specimen geometries showed deviations in the surface quality caused by an over-extrusion in the robotic manufacturing. This over-extrusion results from the slicing process in combination with the robot control and may be avoided through further optimisation of the process parameters. Overall, to the best of our knowledge, this study is the first that successfully demonstrates the transfer of Fused Filament Fabrication (FFF) from a conventional system to manufacturing using robots on silicone build plates for the use in Enhanced Multipoint Moulding with Additive Attachments.