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id sigradi2016_484
authors Shahmiri, Fereshteh; Gentry, Russell
year 2016
title A Survey of Cable-Suspended Parallel Robots and their Applications in Architecture and Construction
source SIGraDi 2016 [Proceedings of the 20th Conference of the Iberoamerican Society of Digital Graphics - ISBN: 978-956-7051-86-1] Argentina, Buenos Aires 9 - 11 November 2016, pp.914-920
summary Serial, aerial and solid-linked parallel robots are unable to handle large payloads in building-scale workspaces for on-site applications and are thus best suited for automated fabrication in plant settings. In contrast, Cable Suspended Parallel Robots or CSPRs are able to handle large loads and traverse great distances as required on building construction sites. This paper reviews the existing literature and practice to bridge the gap between our understanding of CSPRs and their applicability to building-scale tasks such as full-scale concrete printing and building fašade installation. The research identifies key activities in CSPRs fabrication workflows. Using a comparative approach, the paper investigates five CSPR variants and assesses the performance characteristics. A simple kinematic model of each CSPR is developed and implemented as a Rhino/Grasshopper script to aid in the performance assessment of each system. The paper concludes with a ranking of CSPR systems and their likely applicability to full-scale implementation on a construction site.
keywords Cable Suspended Parallel Robots; CSPR; Automation; AEC
series SIGraDi
email fereshteh_shahmiri@gatech.edu
full text file.pdf (1,204,600 bytes)
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