3D printing is revolutionising the architecture and construction industry. However, printing complex shapes often requires expensive support. This paper explores computational techniques for non-planar slicing using a 6-axis robotic arm. The goal is to fabricate intricate geometries without additional support structures, reducing time and cost while improving accuracy. This approach aims to democratise 3D printing and make it accessible to a broader user group. Ultimately, the research seeks to unlock 3D printing's potential in construction and design, offering economical and precise fabrication methods for various applications.