A 3D Printer Head as a Robotic Manipulator

We introduce new ways of using 3D printer head as a 3-axis robotic manipulator to support advanced fabrication such as breaking support materials, assembling separately printed parts and actuating printed objects on a build-plate. To achieve these advanced fabrication techniques, we develop specific printing methods and redesign a low-cost commodity fused deposition modeling (FDM) 3D printer to that can attach/detach printed end-effectors which change the function of the 3D printer head (e.g. hook, break, and rotate printed objects). By combining our explored printing methods and advanced fabrication techniques, a low-cost FDM 3D printer print out kinetic objects one-off such as bevel gears, springs and linkage mechanisms. In addition, this technique enables actuating printed functional objects on a build-plate that need a power source and actuators such as a coffee mill.