{"id":"https://openalex.org/W7119097932","doi":"https://doi.org/10.3390/robotics15010016","title":"Kinematic Analysis and Workspace Evaluation of a New Five-Axis 3D Printer Based on Hybrid Technologies","display_name":"Kinematic Analysis and Workspace Evaluation of a New Five-Axis 3D Printer Based on Hybrid Technologies","publication_year":2026,"publication_date":"2026-01-07","ids":{"openalex":"https://openalex.org/W7119097932","doi":"https://doi.org/10.3390/robotics15010016"},"language":"en","primary_location":{"id":"doi:10.3390/robotics15010016","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics15010016","pdf_url":"https://www.mdpi.com/2218-6581/15/1/16/pdf?version=1767771421","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/15/1/16/pdf?version=1767771421","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5134809533","display_name":"Azamat Mustafa","orcid":"https://orcid.org/0000-0002-4751-7141"},"institutions":[{"id":"https://openalex.org/I204275683","display_name":"Satbayev University","ror":"https://ror.org/020cpsb96","country_code":"KZ","type":"education","lineage":["https://openalex.org/I204275683"]}],"countries":["KZ"],"is_corresponding":false,"raw_author_name":"Azamat Mustafa","raw_affiliation_strings":["Department of Mechanical Engineering, Satbayev University, Almaty 050000, Kazakhstan"],"raw_orcid":"https://orcid.org/0000-0002-4751-7141","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Satbayev University, Almaty 050000, Kazakhstan","institution_ids":["https://openalex.org/I204275683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012782698","display_name":"Rustem Kaiyrov","orcid":"https://orcid.org/0000-0002-0899-4981"},"institutions":[{"id":"https://openalex.org/I2800164252","display_name":"Karaganda Buketov University","ror":"https://ror.org/00eq8hh49","country_code":"KZ","type":"education","lineage":["https://openalex.org/I2800164252"]}],"countries":["KZ"],"is_corresponding":false,"raw_author_name":"Rustem Kaiyrov","raw_affiliation_strings":["Laboratory of Applied Mechanics and Robotics, Karaganda Buketov University, Karaganda 100001, Kazakhstan"],"raw_orcid":"https://orcid.org/0000-0002-0899-4981","affiliations":[{"raw_affiliation_string":"Laboratory of Applied Mechanics and Robotics, Karaganda Buketov University, Karaganda 100001, Kazakhstan","institution_ids":["https://openalex.org/I2800164252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122040104","display_name":"Yerik Nugman","orcid":null},"institutions":[{"id":"https://openalex.org/I204275683","display_name":"Satbayev University","ror":"https://ror.org/020cpsb96","country_code":"KZ","type":"education","lineage":["https://openalex.org/I204275683"]}],"countries":["KZ"],"is_corresponding":true,"raw_author_name":"Yerik Nugman","raw_affiliation_strings":["Department of Mechanical Engineering, Satbayev University, Almaty 050000, Kazakhstan"],"raw_orcid":"https://orcid.org/0000-0003-4537-9440","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Satbayev University, Almaty 050000, Kazakhstan","institution_ids":["https://openalex.org/I204275683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030755387","display_name":"Mukhagali Sagyntay","orcid":"https://orcid.org/0000-0002-7946-1568"},"institutions":[{"id":"https://openalex.org/I204275683","display_name":"Satbayev University","ror":"https://ror.org/020cpsb96","country_code":"KZ","type":"education","lineage":["https://openalex.org/I204275683"]}],"countries":["KZ"],"is_corresponding":false,"raw_author_name":"Mukhagali Sagyntay","raw_affiliation_strings":["Department of Mechanical Engineering, Satbayev University, Almaty 050000, Kazakhstan"],"raw_orcid":"https://orcid.org/0000-0002-7946-1568","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Satbayev University, Almaty 050000, Kazakhstan","institution_ids":["https://openalex.org/I204275683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024949316","display_name":"Nurtay Albanbay","orcid":"https://orcid.org/0000-0002-3393-7380"},"institutions":[{"id":"https://openalex.org/I204275683","display_name":"Satbayev University","ror":"https://ror.org/020cpsb96","country_code":"KZ","type":"education","lineage":["https://openalex.org/I204275683"]}],"countries":["KZ"],"is_corresponding":false,"raw_author_name":"Nurtay Albanbay","raw_affiliation_strings":["Department of Cybersecurity, Information Processing and Storage, Satbayev University, Almaty 050000, Kazakhstan"],"raw_orcid":"https://orcid.org/0000-0002-3393-7380","affiliations":[{"raw_affiliation_string":"Department of Cybersecurity, Information Processing and Storage, Satbayev University, Almaty 050000, Kazakhstan","institution_ids":["https://openalex.org/I204275683"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Algazy Zhauyt","orcid":"https://orcid.org/0000-0003-3905-6928"},"institutions":[{"id":"https://openalex.org/I247491477","display_name":"Almaty University of Power Engineering and Telecommunications","ror":"https://ror.org/020d95911","country_code":"KZ","type":"education","lineage":["https://openalex.org/I247491477"]}],"countries":["KZ"],"is_corresponding":false,"raw_author_name":"Algazy Zhauyt","raw_affiliation_strings":["Department of Aerospace and Electronic Engineering, Almaty University of Power Engineering and Telecommunications, Almaty 050013, Kazakhstan"],"raw_orcid":"https://orcid.org/0000-0003-3905-6928","affiliations":[{"raw_affiliation_string":"Department of Aerospace and Electronic Engineering, Almaty University of Power Engineering and Telecommunications, Almaty 050013, Kazakhstan","institution_ids":["https://openalex.org/I247491477"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122238278","display_name":"Zharkynbek Turgunov","orcid":null},"institutions":[{"id":"https://openalex.org/I204275683","display_name":"Satbayev University","ror":"https://ror.org/020cpsb96","country_code":"KZ","type":"education","lineage":["https://openalex.org/I204275683"]}],"countries":["KZ"],"is_corresponding":false,"raw_author_name":"Zharkynbek Turgunov","raw_affiliation_strings":["Department of Mechanical Engineering, Satbayev University, Almaty 050000, Kazakhstan"],"raw_orcid":"https://orcid.org/0000-0003-1828-397X","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Satbayev University, Almaty 050000, Kazakhstan","institution_ids":["https://openalex.org/I204275683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081572017","display_name":"I M Dyussebayev","orcid":null},"institutions":[{"id":"https://openalex.org/I204275683","display_name":"Satbayev University","ror":"https://ror.org/020cpsb96","country_code":"KZ","type":"education","lineage":["https://openalex.org/I204275683"]}],"countries":["KZ"],"is_corresponding":false,"raw_author_name":"Ilyas Dyussebayev","raw_affiliation_strings":["Department of Mechanical Engineering, Satbayev University, Almaty 050000, Kazakhstan"],"raw_orcid":"https://orcid.org/0000-0001-8514-8300","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Satbayev University, Almaty 050000, Kazakhstan","institution_ids":["https://openalex.org/I204275683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5122077109","display_name":"Yang Lei","orcid":null},"institutions":[{"id":"https://openalex.org/I204275683","display_name":"Satbayev University","ror":"https://ror.org/020cpsb96","country_code":"KZ","type":"education","lineage":["https://openalex.org/I204275683"]}],"countries":["KZ"],"is_corresponding":false,"raw_author_name":"Yang Lei","raw_affiliation_strings":["Department of Mechanical Engineering, Satbayev University, Almaty 050000, Kazakhstan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Satbayev University, Almaty 050000, Kazakhstan","institution_ids":["https://openalex.org/I204275683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5122040104"],"corresponding_institution_ids":["https://openalex.org/I204275683"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0324747,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"15","issue":"1","first_page":"16","last_page":"16"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10783","display_name":"Additive Manufacturing and 3D Printing Technologies","score":0.6279000043869019,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10783","display_name":"Additive Manufacturing and 3D Printing Technologies","score":0.6279000043869019,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10705","display_name":"Additive Manufacturing Materials and Processes","score":0.15680000185966492,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12190","display_name":"Innovations in Concrete and Construction Materials","score":0.026499999687075615,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.8398000001907349},{"id":"https://openalex.org/keywords/3d-printer","display_name":"3d printer","score":0.7322999835014343},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6427000164985657},{"id":"https://openalex.org/keywords/subtractive-color","display_name":"Subtractive color","score":0.6385999917984009},{"id":"https://openalex.org/keywords/rigidity","display_name":"Rigidity (electromagnetism)","score":0.5095000267028809},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5066999793052673},{"id":"https://openalex.org/keywords/machining","display_name":"Machining","score":0.48159998655319214},{"id":"https://openalex.org/keywords/3d-printing","display_name":"3D printing","score":0.47920000553131104}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8398000001907349},{"id":"https://openalex.org/C2984377249","wikidata":"https://www.wikidata.org/wiki/Q229367","display_name":"3d printer","level":2,"score":0.7322999835014343},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6427000164985657},{"id":"https://openalex.org/C150799807","wikidata":"https://www.wikidata.org/wiki/Q374081","display_name":"Subtractive color","level":2,"score":0.6385999917984009},{"id":"https://openalex.org/C160343418","wikidata":"https://www.wikidata.org/wiki/Q185256","display_name":"Rigidity (electromagnetism)","level":2,"score":0.5095000267028809},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5066999793052673},{"id":"https://openalex.org/C523214423","wikidata":"https://www.wikidata.org/wiki/Q192047","display_name":"Machining","level":2,"score":0.48159998655319214},{"id":"https://openalex.org/C524769229","wikidata":"https://www.wikidata.org/wiki/Q229367","display_name":"3D printing","level":2,"score":0.47920000553131104},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4293999969959259},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.41920000314712524},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.41780000925064087},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.40549999475479126},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4041999876499176},{"id":"https://openalex.org/C2776545253","wikidata":"https://www.wikidata.org/wiki/Q5464292","display_name":"Folding (DSP implementation)","level":2,"score":0.35600000619888306},{"id":"https://openalex.org/C175457265","wikidata":"https://www.wikidata.org/wiki/Q190247","display_name":"Numerical control","level":3,"score":0.3456000089645386},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.3190000057220459},{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.30559998750686646},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3021000027656555},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.271699994802475},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.262800008058548},{"id":"https://openalex.org/C5941749","wikidata":"https://www.wikidata.org/wiki/Q19768","display_name":"Machine tool","level":2,"score":0.25619998574256897}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/robotics15010016","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics15010016","pdf_url":"https://www.mdpi.com/2218-6581/15/1/16/pdf?version=1767771421","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:8424be15443e43e49b93be5ddd692d38","is_oa":true,"landing_page_url":"https://doaj.org/article/8424be15443e43e49b93be5ddd692d38","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 15, Iss 1, p 16 (2026)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/robotics15010016","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics15010016","pdf_url":"https://www.mdpi.com/2218-6581/15/1/16/pdf?version=1767771421","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7119097932.pdf","grobid_xml":"https://content.openalex.org/works/W7119097932.grobid-xml"},"referenced_works_count":36,"referenced_works":["https://openalex.org/W1990447791","https://openalex.org/W2004787402","https://openalex.org/W2098459033","https://openalex.org/W2107596955","https://openalex.org/W2226213058","https://openalex.org/W2418453408","https://openalex.org/W2424019236","https://openalex.org/W2519223886","https://openalex.org/W2539484368","https://openalex.org/W2764146778","https://openalex.org/W3136285533","https://openalex.org/W3162433342","https://openalex.org/W3192098924","https://openalex.org/W3214958476","https://openalex.org/W4213096803","https://openalex.org/W4213159374","https://openalex.org/W4232812485","https://openalex.org/W4246308794","https://openalex.org/W4256526535","https://openalex.org/W4288051586","https://openalex.org/W4309090699","https://openalex.org/W4362465858","https://openalex.org/W4363650167","https://openalex.org/W4366316585","https://openalex.org/W4381537435","https://openalex.org/W4387569457","https://openalex.org/W4387904819","https://openalex.org/W4390651637","https://openalex.org/W4392436541","https://openalex.org/W4392858071","https://openalex.org/W4408406089","https://openalex.org/W4409475268","https://openalex.org/W4411680099","https://openalex.org/W4411972737","https://openalex.org/W4414152211","https://openalex.org/W4415917392"],"related_works":[],"abstract_inverted_index":{"Additive":[0],"manufacturing":[1,13,45],"technologies":[2,32],"for":[3,59,78,88,109,152],"metals":[4],"are":[5,140,162,173,184,188],"developing":[6],"rapidly.":[7],"Among":[8],"them,":[9],"wire":[10],"arc":[11],"additive":[12,37],"(WAAM)":[14],"has":[15],"become":[16],"widespread":[17],"due":[18],"to":[19,52,116],"its":[20],"accessibility.":[21],"However,":[22],"parts":[23],"produced":[24],"using":[25],"WAAM":[26,106],"require":[27],"surface":[28],"post-processing;":[29],"therefore,":[30],"hybrid":[31,72,103],"have":[33],"emerged":[34],"that":[35],"combine":[36],"and":[38,55,62,83,111,124,131,145,169,177,190],"subtractive":[39],"processes":[40],"within":[41],"a":[42,96,127,132],"single":[43],"compact":[44,77],"complex.":[46],"Such":[47],"systems":[48],"make":[49],"it":[50],"possible":[51],"organize":[53],"single-piece":[54],"small-batch":[56],"production,":[57],"including":[58],"the":[60,93,158,175,180,191,194],"repair":[61],"restoration":[63],"of":[64,86,95,138,157,179,193],"equipment":[65,73],"in":[66],"remote":[67],"areas.":[68],"For":[69],"this":[70],"purpose,":[71],"must":[74],"be":[75,84],"lightweight,":[76],"transportation,":[79],"provide":[80],"sufficient":[81],"workspace,":[82],"capable":[85],"folding":[87],"transport.":[89],"This":[90],"paper":[91],"proposes":[92],"concept":[94],"multifunctional":[97],"metal":[98],"3D":[99,160],"printer":[100,148,161,195],"based":[101],"on":[102],"technology,":[104],"where":[105],"is":[107,114,150,196],"used":[108],"printing,":[110],"mechanical":[112],"post-processing":[113],"applied":[115],"obtain":[117],"finished":[118],"parts.":[119],"To":[120],"ensure":[121],"both":[122],"rigidity":[123],"low":[125],"mass,":[126],"3-UPU":[128],"parallel":[129],"manipulator":[130],"worktable":[133],"with":[134],"two":[135],"rotational":[136],"degrees":[137],"freedom":[139],"employed,":[141],"enabling":[142],"five-axis":[143],"printing":[144],"machining.":[146],"The":[147,155],"housing":[149],"foldable":[151],"convenient":[153],"transportation.":[154],"kinematics":[156,171],"proposed":[159],"investigated":[163],"as":[164],"an":[165],"integrated":[166],"system.":[167],"Forward":[168],"inverse":[170],"problems":[172],"solved,":[174],"velocities":[176],"accelerations":[178],"moving":[181],"platform":[182],"center":[183],"calculated,":[185],"singular":[186],"configurations":[187],"analyzed,":[189],"workspace":[192],"determined.":[197]},"counts_by_year":[],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2026-01-08T00:00:00"}