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1、+MODELARTICLEINPRESSAUTCON-00845;NoofPages11AutomationinConstructionxx(2007)xxx–xxxwww.elsevier.com/locate/autconCable-suspendedroboticcontourcraftingsystemaa,⁎bbPaulBosscher,RobertL.WilliamsII,L.SebastianBryson,DanielCastro-LacoutureaDepartmentofMechanicalEng
2、ineering,OhioUniversity,Athens,Ohio45701,UnitedStatesbDepartmentofCivilEngineering,OhioUniversity,Athens,Ohio45701,UnitedStatesAccepted20February2007AbstractThisarticleintroducesanewconceptforacontourcraftingconstructionsystem.Contourcraftingisarelativelynewla
3、yeredfabricationtechnologythatenablesautomatedconstructionofwholestructures.Thesystemproposedhereconsistsofamobilecontourcraftingplatformdrivenbyatranslationalcable-suspendedrobot.Theplatformincludesanextrusionsystemforlayingbeadsofconcreteaswellascomputer-con
4、trolledtrowelsforformingthebeadsastheyarelaid.Thissystemisfullyautomatedanditsgoalistoconstructconcretestructuresrapidlyandeconomically.Thenovelattributesofthissystempotentiallyenablesignificantimprovementsoverotherproposedcontourcraftingsystems,includingbette
5、rportability,lowercost,andthepossibilitytobuildmuchlargerstructures.Thisarticlepresentsthekinematicsandstaticsoftheproposedsystem,providesaproofoftranslation-onlymotion,andusesthereachableworkspaceoftherobotaswellasthecorrespondingcabletensionstoapproximatethe
6、maximumsizestructurethatcanbebuiltusingthismanipulator.©2007ElsevierB.V.Allrightsreserved.Keywords:Contourcrafting;Concreteextrusion;Cable-suspendedrobot;Workspace;Translation-onlyrobot1.IntroductionTheCCprocessinvolvesdepositingstrips/beadsofmaterial(typicall
7、yathickconcrete/pastetypematerial)usinganextru-Contourcrafting(CC)isalayeredfabricationtechnologythatsionprocess.Anozzle(showninyellowinFig.1)extrudesthehasbeenproposedbyKhoshnevis[1,2]forautomatedconstruc-materialinthedesiredlocations.Intheoriginalformulation
8、oftionofcivilstructures.Theaimofthistechnologyistoimprovethissystemthex–y–zpositionofthenozzleiscontrolledbyathespeed,safety,qualityandcostofbuildingconstruction.Cartesiangantryman
