3d printing of composite dairy products with a 6-axis robot converted into a printer

The application areas of three-dimensional (3D) printers are continually expanding, and one of these areas is 3D food printing. Although food printing is not yet widespread, it continues to develop and advance. By enabling personalized nutrition, custom design, the creation of foods with challenging geometries, and products tailored for individuals with swallowing difficulties, 3D food printing stands out as a strong alternative to traditional food production methods. Successful fabrication depends on correctly tuning parameters that affect product quality such as printing speed, nozzle diameter, layer thickness, and mixture viscosity, underscoring the importance of research in this field. In this study, the conversion of a six-axis industrial robot into a printer and its use for the three-dimensional printing of composite dairy products were examined. Printable formulations were prepared using food ingredients such as sodium caseinate, milk powder, pectin, and carrageenan, and printing was carried out via a custom designed extrusion head integrated into the robotic system. The rheological properties of the resulting products, the printing parameters, and their structural integrity were evaluated. This research demonstrates the potential of industrial robots in food printing and offers a new approach to personalized food production. Keywords: 3D Printing, 6-Axis Robot, Food Printing