A Flexible Framework for Robotic Post-Processing of 3D Printed Components

Three-dimensional (3D) printing has revolutionized the production of mechanical components by enabling the creation of objects of complex geometry, but at the same time it has introduced new issues related to post-processing operations. Similarly, robotics has seen an evolution with the emergence of collaborative robots, which can support the operator in human-centric applications. This work aims to bring these two technologies together by presenting a flexible framework for processing raw products obtained through 3D printing technology with the support of collaborative robotics. This framework lays the foundation for the subsequent development of a human-robot cooperation protocol with the aim of simplifying post-processing and particularly finishing operations of metal-printed 3D objects. In this paper, an initial integrated solution is proposed that can address the post-processing needs of objects from 3D printing, providing guidance on the software and hardware tools to be used and the process to be followed to achieve a quality product in compliance with the relevant standards. Verifications in a simulation environment and through algorithms based on the kinematics and statics of a Fanuc collaborative robot implemented in a numerical environment allow verification of the feasibility of several operations. The result is a comprehensive framework that starts from the feasibility study and reaches the completion of the 3D printed component through finishing and post-processing operations.