The use of articulated manipulators in additive manufacturing is a hot topic for the development of flexible manufacturing cells and the integration of industrial robots into smart technologies. The paper analyzes the current problems and prospects of such integration, considers the advantages and limitations of robotic additive technology. It is shown that the advantage of a robotic cell compared to typical 3D printing devices is the flexibility of the technological process. Fused Deposition Modeling (FDM), which is widely used to manufacture thermoplastic parts, is discussed in detail. A robotic cell for printing parts from thermoplastics using the FDM method has been developed. The corresponding computer model was compiled to simulate the movements of a 6-axis articulated robot in the FDM technological process and the supply of polymer filament to the print head. A mathematical model has been developed for planning the trajectory of a robot arm when printing the internal volume of a part with a fractal structure. The fractal tree has been chosen as the mathematical form for the typical geometry of internal structure. A static structural analysis was performed together with topology optimization on a finite element mesh, the results of which confirm that the tree-like fractal structure has the most optimal strength characteristics.