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This paper presents the initial development of a robotic additivemanufacturing technology based on ultraviolet (UV)-curable thermoset polymers.This is designed to allow free-standing printing through partial UV curing andfiber reinforcement for structural applications. The proposed system integratesa collaborative robotic manipulator with a custom-built extruder end-effectordesigned specifically for printing with UV-curable polymers. The system wastested using a variety of resin compositions, some reinforced with milled glassfiber (GF) or fumed silica (FS) and small-scale, 2D and 3D specimens wereprinted. Dimensional stability was analyzed for all formulations, showing thatresin containing up to 50 wt% GF or at least 2.8 wt% FS displayed the mostaccurate dimensions.

Design and integration of end-effector for 3D printing of novel UV-curable shape memory polymers with a collaborative robotic system