While numerous types of manufacturing exist within these three broad categories, a single representative fabrication process for each category was selected to explore and evaluate capabilities. To investigate the idea of a multi-functional Compound Fabrication platform, an industrial robotic arm was utilized in the three conventional categories of fabrication: additive, formative, and subtractive. Finally, the benefits, limitations, and the future of robotic arm platforms in fabrication are discussed. By exploring compound processes within the same machine, the flexibility of robotic arms can be used in a multiple-operation technique with a single fixturing setup. Combining new manufacturing processes, such as 3D printing and multi-axis milling, with the range of a robotic arm, offers a potential platform for integrated fabrication across spatial and temporal scales. In this paper, a multi-functional robotic arm platform capable of all three of the major fabrication categories (additive, formative, and subtractive) is demonstrated and explored in the context of a new approach to design fabrication coined by the authors Compound Fabrication.

The concept of multi-functional machining has been previously studied, however, the aforementioned CNC multi-functional machines are based on gantry milling setup with a tool changer, typically limiting their operations to subtractive processes. But what if a single machine could do it all? Typically, multiple discrete and dedicated gantry-style computer numerical control (CNC) machines are used for such purposes. In addition to their capabilities as positioning systems for single processes, robotic arms offers unparalleled possibilities through the use of end-effectors that can transform an arm into a fabricator, sensor, actuator, and manipulator. Дespite their inherent advantages of workspace flexibility and adaptability over conventional gantry systems, industrial arms still are not fully utilized. A notable setup relevant to this paper can be reviewed in the MultiFab project, which uses a robotic arm, combined with a conventional 5-axis milling machine, to create a machining cell capable of laser-based additive manufacturing and milling. Robotic arms are beginning to replace and advance now common digital fabrication technologies such as 3D printing processes, metal folding operations, multi-axis milling, hot-wire foam cutting systems, brick-laying, and more, ,,. For instance, additive manufacturing techniques capable of 3D printing functional batteries, working mechanical clocks, and even full-scale housing have been developed. Digital fabrication techniques have become a widespread tool for rapid prototyping and customized fabrication of systems with complex geometry, multi-material elements, and internal features. Coupled with the evolution in digital fabrication and manufacturing, industrial robots are being repurposed to accommodate for customized manufacturing roles. However, given increased use of industrial robotic arms in new fields such as art and architecture, the role of the industrial arm is now transforming.

Industrial robots excel at cyclic tasks because repetitive movements are relatively straightforward to program at start-up. Yet, in todayвЂ™s world, robotic arms are typically relegated to perform repetitive tasks, such as those seen in assembly lines. Since the advent of the industrial robot, the world has been captivated by the idea of an automatically controlled agent that could make anything. Finally, contemplation regarding the future of multi-functional robotic fabrication is offered, in the context of the experiments reviewed and demonstrated in this paper. The benefits and limitations of the Compound Fabrication approach and its experimental platform are reviewed and discussed. In addition, novel robotic fabrication processes are developed and evaluated, such as multi-axis plastic 3D printing, direct recycling 3D printing, and embedded printing. Promoting an integrated approach to robotic fabrication, novel combination processes are demonstrated including 3D printing and milling fabrication composites. A 6-axis robotic arm, repurposed as an integrated 3D printing, milling and sculpting platform, enables shifting between fabrication modes and across scales using different end effectors.

This approach combines the major manufacturing technologies including additive, formative and subtractive fabrication, as well as their parallel integration. We propose a novel approach for robotic fabrication and manufacturing entitled Compound Fabrication, supporting multi-functional and multi-material processes. Supporting various applications of digital fabrication and manufacturing, the industrial robot is typically assigned repetitive tasks for specific pre-programmed and singular applications.

Hsmworks 4th axis setup