The overall goal of this research work is to enhance the capabilities of large-format, polymer material extrusion, additive manufacturing (AM) systems. Specifically, the aims of this research are to (1) Construct, and develop a robust workflow for, a large-format, robotic, AM system; (2) Develop an algorithm for determining and relaying proper rotation commands for 5 degree of freedom (DoF) multi-axis deposition; and (3) Create a method for printing a removable support material in large-format AM. The development and systems-integration of a large-format, pellet-fed, polymer, material extrusion (ME), AM system that leverages an industrial robotic arm is presented. The robotic arm is used instead of the conventional gantry motion stage due to its multi-axis printing ability, ease of tool changes for multi-material deposition and/or subtraction, and relatively small machine footprint. A novel workflow is presented as a method to control the robotic arm for layer-wise fabrication of parts, and several machine modifications and workflow enhancements are presented to extend the multi-axis manufacturing capabilities of the robot. This workflow utilizes existing AM slicers to simplify the motion path planning for the robotic arm, as well as allowing the workflow to not be restricted to a single robotic deposition system. To enable multi-axis deposition, a method for generating tool orientations and resulting deposition toolpaths from a geometry's STL file was developed for 5-DoF conformal printing and validated via simulation using several different multi-DOF robotic arm platforms. Furthermore, this research proposes a novel method of depositing a secondary sacrificial support material was created for large-format AM to enable the fabrication of complex geometries with overhanging features. This method employs a simple tool change to deposit a secondary, water-soluble polymer at the interfaces between the part and supporting structures. In addition, a means to separate support material into smaller sections to extend the range of geometries able to be manufactured via large-format AM is presented. The resultant method was used to manufacture a geometry that would traditionally be considered unprintable on conventional large-format AM systems. / Master of Science / Additive manufacturing (AM), also known as 3D printing, is a method of manufacturing objects in a layer-by-layer technique. Large-format AM is typically defined as an AM system that can create an object larger than 1 m3. There are only a few manufacturers in the world of these systems, and all currently are built on gantry-based motion stages that only allow movement of the printer in three principal axes (X, Y, Z). The primary goal of this thesis is to construct a large-format AM system that uses a robotic arm to enable printing in any direction or orientation. The use of an industrial robotic arm enables printing in multiple planes, which can be used to print structures without support structures, print onto curved surfaces, and to purt with curved layers which produces a smoother external part surface. The design of the large-format AM system was validated through successful printing of objects as large as 1.0x0.5x1.2 m, simultaneous printing of a sacrificial support material to enable overhanging features, and through completing multi-axis printing. To enable multi-axis printing, an algorithm was developed to determine the proper toolpath location and relative orientation to the part surface. Using a part's STL file as input, the algorithm identifies the normal vector at each movement command, which is then used to calculate the required tool orientation. The tool orientations are then assembled with the movement commands to complete the multi-axis toolpath for the robot to perform. Finally, this research presents a method of using a second printing tool to deposit a secondary, water-soluble material to act as supporting structures for overhanging and bridging part features. While typical 3D printers can generally print sacrificial material for supporting overhangs, large-format printers produce layers up to 25 mm wide, rendering any support material impossible to remove without post-process machining. This limits the range of geometries able to be printed to just those with no steep overhangs, or those where the support material is easily reachable by a tool for removal. The solution presented in this work enables the large scale AM processes to create complex geometries.

<div>The work discussed in this document seeks to integrate conductive additives with energetic material systems to offer an alternative source of ignition for the energetic material. By utilizing the conductive properties of the additives, ohmic heating may serve as a method for preheating and igniting an energetic material. This would allow for controlled ignition of the energetic material without the use of a traditional ignition source, and could also result in easier system fabrication.</div><div>For ohmic heating to be a viable method of preheating or igniting these conductive energetic materials, there cannot be significant impact on the energetic properties of the energetic materials. Various mass solids loadings of graphene nanoplatelets (GNPs) were mixed with a reactive mixture of aluminum (Al)/polyvinylidene fluoride (PVDF) to test if ohmic heating ignition was feasible and to inspect the impact that these loadings had on the energetic properties of the Al/PVDF. Results showed that while ohmic heating was a plausible method for igniting the conductive energetic samples, the addition of GNPs degraded the energetic properties of the Al/PVDF. The severity of this degradation was minimized at lower solids loadings of GNPs, but this consequently resulted in larger voltage input requirements to ignite the conductive energetic material. This was attributable to the decreased conductivities of the samples at lower solids loading of GNPs.</div><div>In hopes of conserving the energetic properties of the Al/PVDF while integrating the conductive additives, additive manufacturing techniques, more specifically fused filament fabrication, was used to print two distinct materials, Al/PVDF and a conductive composite, into singular parts. A CraftBot 3 was used to selectively deposit Conductive Graphene PLA (Black Magic) filament with a reactive filament comprised of a PVDF binder with 20% mass solids loadings of aluminum. Various amounts of voltage were applied to these conductive energetic samples to quantify the time to ignition of the Al/PVDF as the applied voltage increased. A negative correlation was discovered between the applied voltage and time to ignition. This result was imperative for demonstrating that the reaction rate could be influenced with the application of higher applied voltages.</div><div>Fused filament fabrication was also used to demonstrate the scalability of the dual printed conductive energetic materials. A flexural test specimen made of the Al/PVDF was printed with an embedded strain gauge made of the Black Magic filament. This printed strain gauge was tested for dual purposes: as an igniter and as a strain sensor, demonstrating the multi-functional use of integrating conductive additives with energetic materials.</div><div>In all, the experiments in this document lay a foundation for utilizing conductive additives with energetic materials to offer an alternative form of ignition. Going forward, ohmic heating ignition may serve as a replacement to current, outdated methods of ignition for heat sensitive energetic materials.</div>