As the demand for mass customization increases, manufacturing systems must become more flexible and adaptable to produce personalized products efficiently. Additive manufacturing (AM) enhances production adaptability by enabling on-demand fabrication of customized components directly from digital models, but its flexibility remains constrained by fixed equipment layouts. Integrating mobile robots addresses this limitation by allowing manufacturing resources to move and adapt to changing production requirements. Mobile AM Robots (MAMbots) combine AM with mobile robotics to produce and transport components within dynamic manufacturing environments. However, the dynamic manufacturing environments introduce challenges for MAMbots. Disturbances such as obstacles and uneven terrain can disrupt navigation stability, which in turn affects printing accuracy and surface quality. This work proposes a universal mobile printing-and-delivery platform that couples navigation and material deposition, addressing the limitations of earlier frameworks that treated these processes separately. A real-time control framework is developed to plan and control the robot's navigation, ensuring safe motion, obstacle avoidance, and path stability while maintaining print quality. The closed-loop integration of sensing, mobility, and manufacturing provides real-time feedback for motion and process control, enabling MAMbots to make autonomous decisions in dynamic environments. The framework is validated through simulations and real-world experiments that test its adaptability to trajectory variations and external disturbances. Coupled navigation and printing together enable MAMbots to plan safe, adaptive trajectories, improving flexibility and adaptability in manufacturing.

翻译：随着大规模个性化定制需求的增长，制造系统必须更加灵活和适应性强，以高效生产个性化产品。增材制造通过直接从数字模型按需制造定制组件增强了生产适应性，但其灵活性仍受限于固定设备布局。集成移动机器人通过允许制造资源移动并适应不断变化的生产需求，解决了这一局限。移动增材制造机器人将增材制造与移动机器人技术相结合，在动态制造环境中生产和运输组件。然而，动态制造环境给移动增材制造机器人带来了挑战。障碍物和不平地形等干扰会破坏导航稳定性，进而影响打印精度和表面质量。本文提出了一种通用的移动打印与交付平台，该平台将导航与材料沉积耦合，克服了早期框架将这两个过程分离处理的局限。开发了一种实时控制框架来规划和引导机器人导航，确保安全运动、避障和路径稳定性，同时保持打印质量。传感、移动性和制造的闭环集成为运动和过程控制提供实时反馈，使移动增材制造机器人能够在动态环境中自主决策。通过仿真和实际实验验证了该框架对轨迹变化和外部干扰的适应性。导航与打印的耦合使移动增材制造机器人能够规划安全、自适应的轨迹，提高了制造的灵活性和适应性。