Sometimes it is there because it signifies ‘in order to’ as in barod i gysgu - ready (in order to) sleep. Other times it is there because it is part of the proceeding verb’s pattern as in mynd i gysgu - mynd is one of the verbs that uses a +i pattern. As with all rules, there are exceptions which only add to the confusion!
The trick is not to try and translate literally back into English but to absorb the ‘when and where’ it is used by listening practice.
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