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With the increasing demand for freedom of part design in the industry, additive manufacturing (AM) has become a vital fabrication process for manufacturing metallic workpieces with high geometrical complexity. Among all metal additive manufacturing technologies, wire arc additive manufacturing (WAAM), which uses gas metal arc welding (GMAW), is gaining popularity for rapid prototyping of sizeable metallic workpieces due to its high deposition rate, low processing conditions limit, and environmental friendliness. In recent years, WAAM has been developed synergistically with industrial robotic s...