Integrated robotic 3D printing system for printing of fiber reinforced parts

A system for printing a three-dimensional object, the system comprising:

• a print head configured to receive a continuous fiber and at least partially encase the continuous fiber with a formation material to create a composite material;
• a print bed comprising a printing surface onto which the composite material may be selectively applied;
• an arm comprising one or more movable joints in communication with the print bed, and
• a mandrel positioned on a movable arm, an end of the movable arm being located on the print bed, the mandrel being located for receiving the composite material from the print head and providing a form for shaping of the composite material into a selected shape;
• wherein said print bed is configured to move in at least three translational degrees of freedom and at least three rotational degrees of freedom using the one or more movable joints, and wherein said mandrel is moveable relative to the print bed using the movable arm.