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Дата издания
07.01.2026На каком языке издана
ISSN
2218-6581Область исследования
Тип исследования
Аннотация (краткое описание)
Additive manufacturing technologies for metals are developing rapidly. Among them, wire arc additive manufacturing (WAAM) has become widespread due to its accessibility. However, parts produced using WAAM require surface post-processing; therefore, hybrid technologies have emerged that combine additive and subtractive processes within a single compact manufacturing complex. Such systems make it possible to organize single-piece and small-batch production, including for the repair and restoration of equipment in remote areas. For this purpose, hybrid equipment must be lightweight, compact for transportation, provide sufficient workspace, and be capable of folding for transport. This paper proposes the concept of a multifunctional metal 3D printer based on hybrid technology, where WAAM is used for printing, and mechanical post-processing is applied to obtain finished parts. To ensure both rigidity and low mass, a 3-UPU parallel manipulator and a worktable with two rotational degrees of freedom are employed, enabling five-axis printing and machining. The printer housing is foldable for convenient transportation. The kinematics of the proposed 3D printer are investigated as an integrated system. Forward and inverse kinematics problems are solved, the velocities and accelerations of the moving platform center are calculated, singular configurations are analyzed, and the workspace of the printer is determined.DOI
https://doi.org/10.3390/robotics15010016Тип публикаций
Практическое значение
The practical significance of this study lies in the development of a compact and multifunctional hybrid manufacturing system that integrates wire arc additive manufacturing (WAAM) with subtractive post-processing within a single platform. This approach enables the production of high-quality metal parts with improved surface accuracy while reducing the need for separate machining operations. The proposed system is particularly valuable for single-piece and small-batch production, as well as for repair and restoration of metal components in remote or industrial field conditions. Its foldable and transportable design ensures easy deployment in off-site environments, such as construction sites, mining areas, offshore platforms, and disaster recovery locations. The use of a 3-UPU parallel manipulator and a two-axis rotary worktable provides a five-axis manufacturing capability, increasing flexibility and allowing the fabrication of complex geometries with higher precision. This improves production efficiency while maintaining structural rigidity and reducing system weight. From a practical standpoint, the kinematic analysis of the system ensures accurate motion control, safe operation, and optimization of workspace utilization. The developed hybrid printer concept contributes to the advancement of mobile manufacturing technologies, enabling decentralized production, reducing logistics costs, and supporting on-demand manufacturing and equipment repair in modern industrial applications.Квартиль
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SCImago (Scopus)Impact Factor
3.29Количество цитирований
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