NIST research in autonomous construction

Lytle, Alan M.; Saidi, Kamel S.

doi:10.1007/s10514-006-9003-x

Cited by 18 publications

(13 citation statements)

References 9 publications

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“…(8) and (9) can be replaced by where si and ti play a role analogous to that of gi in Eq. (10). From the graph in Fig.…”

Section: B Conversion Into Equality Formmentioning

confidence: 99%

“…Among them, hexapodal ones stand out for their simplicity and extensive use (Fig. 1), especially after the long-term effort on the NIST Robocrane and its derived applications [3,8]- [10]. They involve the minimum number of cables and motors to fully govern a load in 6D under gravity, resulting in simple robotic cranes for precise manipulation that can even be made mobile by attaching vehicles to the feet [11].…”

Section: Introductionmentioning

confidence: 99%

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Planning Wrench-Feasible Motions for Cable-Driven Hexapods

2016

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Abstract-Motion paths of cable-driven hexapods must carefully be planned to ensure that the lengths and tensions of all cables remain within acceptable limits, for a given wrench applied to the platform. The cables cannot go slack -to keep the control of the robot-nor excessively tight -to prevent cable breakage-even in the presence of bounded perturbations of the wrench. This paper proposes a path planning method that accommodates such constraints simultaneously. Given two configurations of the robot, the method attempts to connect them through a path that, at any point, allows the cables to counteract any wrench lying in a predefined uncertainty region. The configuration space, or C-space for short, is placed in correspondence with a smooth manifold, which facilitates the definition of a continuation strategy to search this space systematically from one configuration, until the second configuration is found, or path non-existence is proved by exhaustion of the search. The force Jacobian is full rank everywhere on the C-space, which implies that the computed paths will naturally avoid crossing the forward singularity locus of the robot. The adjustment of tension limits, moreover, allows to maintain a meaningful clearance relative to such locus. The approach is applicable to compute paths subject to geometric constraints on the platform pose, or to synthesize free-flying motions in the full six-dimensional C-space. Experiments are included that illustrate the performance of the method in a real prototype.

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“…(8) and (9) can be replaced by where si and ti play a role analogous to that of gi in Eq. (10). From the graph in Fig.…”

Section: B Conversion Into Equality Formmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Planning Wrench-Feasible Motions for Cable-Driven Hexapods

2016

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“…CDPRs are foreseen in various applications: very large workspace positioning of systems such as aerial cameras and radio telescope receiver (Nan et al 2011), emergency deployable robots (Bosscher et al 2005;Merlet et al 2010), or service robotics (Merlet et al 2010). Construction uses have been foreseen as well, through concepts for façade inspection (Izard et al 2013) and real-world demonstration for workshop applications (Lytle and Saidi 2006;Tecnalia 2015). These already pave the way for use of CDPRs in pick and place like tasks, such as brick laying or curtain wall assembly, with or without human assistance.…”

Section: Introductionmentioning

confidence: 99%

Large-scale 3D printing with cable-driven parallel robots

Izard¹,

Dubor

Hervé³

et al. 2017

Constr Robot

114

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Gantry robots and anthropomorphic arms of various sizes have already been studied and, while they are in use in some parts of the world for automated construction, a new kind of wide workspace machinery, cable-driven parallel robots (CDPR), has emerged. These robots are capable of automated movement in a very wide workspace, using cables reeled in and out by winches as actuation members, the other elements being easily stacked for easy relocation and reconfiguration, which is critical for on-site construction. The motivation of this paper is to showcase the potential of a CDPR operating solely on motor position sensors and showing limited collisions from the cables for large-scale applications in the building industry relevant for additive manufacturing, without risk of collisions between the cables and the building. The combination of the Cogiro CDPR (Tecnalia, LIRMM-CNRS 2010) with the extruder and material of the Pylos project (IAAC 2013) opens the opportunity to a 3D printing machine with a workspace of 13.6 9 9.4 9 3.3 m. The design patterns for printing on such a large scale are disclosed, as well as the modifications that were necessary for both the Cogiro robot and Pylos extruder and material. Two prints, with different patterns, have been achieved with the Pylos extruder mounted on Cogiro: the first spanning 3.5 m in length, the second, reaching a height of 0.86 m. Based on this initial experiment, plans for building larger parts and buildings are discussed, as well as other possible applications for CDPRs in construction, such as the manipulation of assembly processes (windows, lintels, beams, floor elements, curtain wall modules, etc.) or brick laying.

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“…This requires some degree of transportability and agility from the robotic system to navigate in a multi-floor environment. All these challenges have motivated researchers over the years, to design numerous robotic systems that can operate within such environment for a variety of applications (Arai et al 1988;Albus et al 1993;Miyatake et al 1993;Balaguer et al 2002;Lytle and Saidi 2007;Bock 2007;Helm et al 2012;Feng et al 2015). Developing such systems requires the designer to consider a variety of design considerations that ranges from the robot's payload, reachable workspace, placement, model, and localization approach to perform the task.…”

Section: Introductionmentioning

confidence: 99%

An agile robotic system mounted on scaffold structures for on-site construction work

et al. 2017

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This paper presents our effort in developing an agile robotic system for general in situ construction work of large-scale structures. The robotic system comprises of a lightweight industrial robot mounted on a specially designed robot platform capable of being quickly integrated into available scaffold structures. The current prototype weighs less than 50 kg, making it portable and easily carried around by two persons. Furthermore, by making use of the scaffold structures commonly found around the construction site as its foundation, the robotic system requires very little additional setup and would be capable of entering work areas in the construction site which were previously only accessible by human. The key design components which make up the agile robotic system are discussed in detail in this paper. Optimization of some design variables was also performed to reduce the anticipated deflection of the supporting scaffold pipes based on a derived analytical beam flexion model. Finally, actual experiments were carried out to verify the theoretical model and the viability of the proposed agile robotic system.

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NIST research in autonomous construction

Cited by 18 publications

References 9 publications

Planning Wrench-Feasible Motions for Cable-Driven Hexapods

Planning Wrench-Feasible Motions for Cable-Driven Hexapods

Large-scale 3D printing with cable-driven parallel robots

An agile robotic system mounted on scaffold structures for on-site construction work

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