Conceptual design, control, and simulation of a 5-DoF robotic manipulator for direct additive manufacturing on the internal surface of radome systems

In this paper, a novel concept of robotic manipulator is developed for direct additive manufacturing on non-planar surfaces. The application scenario is the metal coating of the internal surface of radome systems, using frequency selective surface patterns. The manipulator is presented from the design, modeling, and control point of view. It is developed following an application-driven approach, meaning that the requirements from the application and the additive manufacturing technology are translated into the design specifications of the robotic system. Simulation results demonstrate that the proposed control strategy based on a decentralized architecture is satisfactory to accurately control the motion of the robotic mechanisms along the trajectory foresees by the direct additive manufacturing task. © 2018, Springer-Verlag London Ltd., part of Springer Nature.