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

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dc.contributor.authorIzard, Jean-Baptiste
dc.contributor.authorDubor, Alexandre
dc.contributor.authorHervé, Pierre-Elie
dc.contributor.authorCabay, Edouard
dc.contributor.authorCulla, David
dc.contributor.authorRodriguez, Mariola
dc.contributor.authorBarrado, Mikel
dc.contributor.institutionTecnalia Research & Innovation
dc.date.issued2017-08-30
dc.description.abstractGantry 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 × 9.4 × 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.en
dc.description.statusPeer reviewed
dc.format.extent8
dc.format.extent1114700
dc.identifier.citationIzard , J-B , Dubor , A , Hervé , P-E , Cabay , E , Culla , D , Rodriguez , M & Barrado , M 2017 , ' Large-scale 3D printing with cable-driven parallel robots ' , Construction Robotics , vol. unknown , pp. 1-8 . https://doi.org/10.1007/s41693-017-0008-0
dc.identifier.doi10.1007/s41693-017-0008-0
dc.identifier.issn2509-8780
dc.identifier.otherresearchoutputwizard: 11556/414
dc.language.isoeng
dc.relation.ispartofConstruction Robotics
dc.rightsinfo:eu-repo/semantics/restrictedAccess
dc.subject.keywordsAdditive manufacturing
dc.subject.keywordsCable-driven parallel robots
dc.subject.keywordsInnovative construction
dc.subject.keywordsOn-site digital fabrication
dc.subject.keywordsParametric design
dc.subject.keywordsPeriodic continuous line
dc.subject.keywordsAdditive manufacturing
dc.subject.keywordsCable-driven parallel robots
dc.subject.keywordsInnovative construction
dc.subject.keywordsOn-site digital fabrication
dc.subject.keywordsParametric design
dc.subject.keywordsPeriodic continuous line
dc.subject.keywordsSDG 9 - Industry, Innovation, and Infrastructure
dc.titleLarge-scale 3D printing with cable-driven parallel robotsen
dc.typejournal article
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