Design and Construction of a 6-DoF Fabrication Platform

This research demonstrates a working freeform fabricator with a six degree of freedom printhead capable of additive fabrication onto existing structures. A parallel actuation mechanism was developed with stationary motors. Kinematic simulations of the printer’s motion were used to analyze and optimize the design. The components of the printer are described, including the control system and print head mechanism. A working fabricator was then constructed and tested. An additive three dimensional structure is demonstrated and the accuracy and reliability of the printer is analyzed.