5-axis 3D printing support test

This is the result of my master thesis at the University of Oslo, at department for robotics.

The printer is a modified RepRap Ormerod, with two added axis (A and C).

This master thesis have been a proof of concept, but since it was working I decided to try two hypotheses, is it possible to print without support (what you see in this video) and is it possible to make a smooth finish on a surface which are in another plane than the xy-plane (what you see in the two other videos).
All the g-code for these parts are basically hand written (with the help of java). I have been using spherical coordinate system to compute the paths and therefore all the parts are round.

With the exception of the 5-axis system that moves along the y-axis almost all the parts are from the RepRap Pro Ormerod 1.

The videos are at 40X speed.

Link to master thesis:
https://www.academia.edu/15736899/5-a...

More videos:
   • 5-axis 3D printing surface finish test 1  
   • 5-axis 3D printing surface finish test 2