Fig. 5. Robot-assisted HDSP.

a Experimental setup comprising a printing platform which is mounted to a robotic arm’s end-effector and an arc being printed with the corresponding pressure pattern. b An object with the in-plane extrusion path. c Helical object created by rotation about the z-axis with variable feed while being extruded in +z-direction with constant feed. The pressure pattern used is shown in the inset. The inset shows the 3D model of the intended part. d Unsupported U-shape part formed with computed robot trajectory. e–h Schematic of the printing process of (d) and computed trajectory.