CAM Planning for Automatic Support Removal with Robotic Chiseling

In this paper, a new CAM planning strategy for removal of support structures is presented. Since such a task is usual in post-processing of parts fabricated with additive manufacturing, the developed approach is about a toolpath planning algorithm suitable for generic robotic cells that can be equipped with a chiseling holder. The 6-axis toolpath generation was used to define spatial paths of the tool tip and proper orientation of the chisel tool. The chisel can be orientated with a certain angle to the machined surface ensuring a gouge-free and collision-free positioning. Removability of different support structures was experimentally validated.