Automation control system of 3d printing robotic platform with implemented wire + arc welding technology


  • P.S. Anikin National University "Zaporizhzhia Polytechnic”, Ukraine
  • G.M. Shilo National University "Zaporizhzhia Polytechnic”, Ukraine
  • R.A. Kulykovskyi National University "Zaporizhzhia Polytechnic”, Ukraine
  • D.E. Molochkov TRIADA LTD CO (Triada-Welding), Ukraine



WAAM, CAE systems, Robotics, Vertical slicing, 3D modeling


Purpose. Development of the robotic platform automated control system architecture, development of the software control algorithm.

Methodology. To implement the algorithm of the control program, computer modeling of thermal regimes in CAE systems is used. The basic parameters of the single layer printing technique were obtained by experimental use of the wire plus arc additive manufacturing (WAAM) technology.

Findings. Requirements for manufacturability and printing quality of the manufactured parts were defined in the form of geometric dimensions, surface waviness, parameters of the desired microstructure state, residual stresses, maintaining of the optimal manufacturing speed. Based on the requirements of manufacturability analysis, an algorithm for the control program was developed. Robotic platform automated control system architecture with feedback device for the thermal mode control, parameters of the geometrical form of the manufactured part and weld pool were developed. Three -level hierarchical model, which gives an ability to consider in the process of 3D printing each level individually in terms of welding bead, layer and wall, was developed. The input data for the operation of the automated control system of the robotic platform using the technology of electric arc welding are determined.  Basic geometrical parameters and the simple welding bead and the methods of overlapping of two or more beads were shown. Critical differences between ideal and real welding overlapping models were considered for necessity of taking into account whilst generating robot control software. Analysis of the possibilities for the CAE simulation of the three-dimensional printing using wire plus arc additive manufacturing technology is performed  to determine the influence of the temperature parameters, mechanical loads, toolpath change, and based on the data obtained, it became possible to determine residual stresses and defects in manufactured parts.

 Originality.  Robotic platform automated control system architecture with feedback device for the control of thermal mode, parameters of the geometrical form of the manufactured part and weld pool was developed. Three-level hierarchical model for the wire plus arc additive manufacturing (WAAM) technology was created. Software control algorithm which provides an opportunity to improve geometrical and mechanical properties of the manufactured parts was developed.

Practical value. Development of an automated control system for 3D printing robotic platform with WAAM implemented technology, which will provide an opportunity for increase in the printing accuracy of the manufactured parts and will help to reduce manufacturing time.

Author Biographies

P.S. Anikin, National University "Zaporizhzhia Polytechnic”

Postgraduate student of National University «Zaporizhzhia Polytechnic», Zaporizhzhia

G.M. Shilo , National University "Zaporizhzhia Polytechnic”

D.Sc., Head of the Department of Information Technologies of Electronic Devices of National University «Zaporizhzhia Polytechnic», Zaporizhzhia

R.A. Kulykovskyi, National University "Zaporizhzhia Polytechnic”

Ph.D, Associate professor, Associate professor of the welding technology and equipment department of  National University «Zaporizhzhia Polytechnic», Zaporizhzhia

D.E. Molochkov, TRIADA LTD CO (Triada-Welding)

Software engineer TRIADA LTD CO (Triada-Welding), Zaporizhzhia


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How to Cite

Anikin, P., Shilo , G., Kulykovskyi, . R., & Molochkov, D. (2020). Automation control system of 3d printing robotic platform with implemented wire + arc welding technology. Electrical Engineering and Power Engineering, (4), 35–48.



Automation and computer-integrated technologies