There is a significant demand for flexibility, mass customization, high productivity and better quality in industry. It’s believed that additive manufacturing (AM) with implementation of collaborative robots (cobot) will help prototyping and manufacturing custom-made parts in a more efficient way. In this paper, it’s proposed a framework of fused deposition modeling (FDM) AM, assisted with a 6-axis cobot. The system is designed in a robot simulation software before implemented to the real case. In the experimental tests, the system shows a potential viability of replacing conventional 3D printers in industrial sector, taking advantage of working in a complex and changeable environment.