Self-contained automated construction deposition system

Williams, Robert L.; Albus, James S.; Bostelman, Roger V.

doi:10.1016/j.autcon.2004.01.001

Cited by 20 publications

(9 citation statements)

References 7 publications

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“…For these reasons, during recent years cable-driven systems have received attention and different kind or cable robots have been investigated. Applications of cable robots span from heavy load and large scale manipulation [2] [3] [4] [5], building tasks [6] [7], to rescue operations [8] and upper limbs rehabilitation [9] [10]. Cables have also been employed in surgical robots to reduce surgeon fatigue and facilitate supervised tele-surgery [11] [12] [13] [14].…”

Section: Introductionmentioning

confidence: 99%

Cable-Based Robotic Crane (CBRC): Design and Implementation of Overhead Traveling Cranes Based on Variable Radius Drums

Scalera

Gallina

Seriani³

et al. 2018

IEEE Trans. Robot.

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In this paper we present a new family of overhead travelling cranes based on variable radius drums, called Cable-Based Robotic Cranes (CBRCs). A Variable Radius Drum (VRD) is characterized by the variation of the spool radius along its profile. This kind of device is used, in this context, for the development of a cable-robot, which can support and move a load through a planar working area with just 2 degrees-of-freedom. Firstly, we present the kinematic analysis and the synthesis of the geometry of VRD profile. Then, the schema of a bidimensional horizontal moving mechanism, based on the VRD theory, and an experimental prototype of a three-dimensional CBRC are presented. The features of this wire-based overhead crane and an analysis of cables tensions are discussed. Finally, the performance of this mechanism is evaluated, demonstrating a deviation between the end-effector and the nominal planar surface of less than 1% throughout the whole working area.

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Section: Introductionmentioning

confidence: 99%

Cable-Based Robotic Crane (CBRC): Design and Implementation of Overhead Traveling Cranes Based on Variable Radius Drums

Scalera

Gallina

Seriani³

et al. 2018

IEEE Trans. Robot.

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show abstract

“…A number of construction and full scale manufacturing techniques have been developed since the mid 90's. These include Solid Freeform construction [27], Robocrane [28,29], Additive Plaster (Bert Brink, Maxit group), Freeform Construction [30] developed at the Rapid Manufacturing Research Group in Loughborough, Contour Crafting [31,32] and the Monolite machine [33], which a few years later evolved into the D-shape technology. The first three techniques presently are not actively pursued, while Contour Crafting, Monolite/D-shape and Freeform Construction machines are under continuous development and are currently used to produce walls and large sculptural objects.…”

Section: Direct Manufacturing Techniquesmentioning

confidence: 99%

Building components for an outpost on the Lunar soil by means of a novel 3D printing technology

Dini²,

et al. 2014

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“…4 shows an example of a fully-constrained cable robot, the FALCON-7 [3], a small-scale seven-cable highspeed manipulator able to achieve accelerations up to 43 g. Fully constrained cable robots have been designed for applications that require high precision, high speed/acceleration or high stiffness. Underconstrained cable robots have been proposed by the second author and NIST for contour crafting type construction [6]. However, because of the need for large workspace manipulation that has both precise motion and high stiffness, we propose the use of a fully-constrained cable robot for contour crafting.…”

Section: Cable Robotsmentioning

confidence: 99%