Multi-material mixer and extruder for 3D printing

Jimi Lehtola, Pradeep Tajhya, Oliver Tallavaara, Arturo Pellicer, Ashish Mohite, Panu Kiviluoma, Petri Kuosmanen

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review


This paper describes the building of a functional multi-material extrusion machine that allows printing on a large scale using non-conventional materials.6-axis Industrial robot was utilized as a platform for 3D printing and the extrusion system was built separately. The study focuses on the control system for mixing and extruding multi-materials with the robot, thus leaving the chemistry discussion of two-component materials to a minimal side. Results show that mixing and extruding high viscous two-component material is possible but making complex multi-layer shapes using liquid materials need further research and development. It is possible to implement an extrusion system to an existing product such as KUKA robot. The PLC systems modularity and expandability offers many solutions for future upgrades such as mentioned in future improvements section.
Original languageEnglish
Title of host publicationProceedings of the 4th Baltic Mechatronics Symposium
PublisherAalto University, School of Engineering
Number of pages6
ISBN (Electronic)978-952-60-3781-3
Publication statusPublished - 2019
MoE publication typeA4 Article in a conference publication
EventBaltic Mechatronics Symposium - Tallinn, Estonia
Duration: 25 Apr 201925 Apr 2019
Conference number: 4


ConferenceBaltic Mechatronics Symposium


  • epoxy
  • additive manufacturing
  • industrial robot
  • printing

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