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A Survey of Cable-Suspended Parallel Robots and their Applications in Architecture and Construction

Shahmiri, Fereshteh; Gentry, Russell;

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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 façade 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.

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Palavras-chave: Cable Suspended Parallel Robots; CSPR; Automation; AEC,

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DOI: 10.5151/despro-sigradi2016-484

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Como citar:

Shahmiri, Fereshteh; Gentry, Russell; "A Survey of Cable-Suspended Parallel Robots and their Applications in Architecture and Construction", p. 914-920 . In: XX Congreso de la Sociedad Iberoamericana de Gráfica Digital [=Blucher Design Proceedings, v.3 n.1]. São Paulo: Blucher, 2016.
ISSN 2318-6968, DOI 10.5151/despro-sigradi2016-484

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