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Materials are accumulated inside the volume along curved tool-paths so that the need of supporting structures can be tremendously reduced - if not completely abandoned - on all models. Our strategy to tackle the challenge of tool-path planning for multi-axis 3D printing is to perform two successive decompositions, first volume-to-surfaces and then surfaces-to-curves. The volume-to-surfaces decomposition is achieved by optimizing a scalar field within the volume that represents the fabrication sequence. The field is constrained such that its iso-values represent curved layers that are supported from below, and present a convex surface affording for collision-free navigation of the printer head. After extracting all curved layers, the surfaces-to-curves decomposition covers them with tool-paths while taking into account constraints from the robotic printing system. Our method successfully generates tool-paths for 3D printing models with large overhangs and high-genus topology. We fabricated several challenging cases on our robotic platform to verify and demonstrate its capabilities.<\/jats:p>","DOI":"10.1145\/3197517.3201342","type":"journal-article","created":{"date-parts":[[2018,7,31]],"date-time":"2018-07-31T15:56:23Z","timestamp":1533052583000},"page":"1-14","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":222,"title":["Support-free volume printing by multi-axis motion"],"prefix":"10.1145","volume":"37","author":[{"given":"Chengkai","family":"Dai","sequence":"first","affiliation":[{"name":"Delft University of Technology, The Netherlands"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Charlie C. 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