This article introduces a new concept for a contour crafting construction system. Contour crafting is a relatively new layered fabrication technology that enables automated construction of whole structures. The system proposed here consists of a mobile contour crafting platform driven by a translational cable-suspended robot. The platform includes an extrusion system for laying beads of concret...

We performed an exploratory study on new joystick-based directing interfaces for a collocated robot. We present a new framing for joystick control, based on either a humancentric, robot-centric, or human-robot-centric control mapping, and further explore the user experience impacts of having a physical cable between the user and the robot. We performed a formal qualitative study and discovered ...

Cable robots have potential usage for loading and unloading of cargo in shipping industries. A novel sixdegree of freedom two-stage cable robot has been proposed by NIST for skin-to-skin transfer of cargo. In this paper, we look at a planar version of this two-stage cable robot. The disturbance motion from the sea is considered while modeling the dynamics of robot. The problem of robust control...

N, Cable Driven Parallel Robots (CDPRs), the moving platform is connected to the base platform by a number of cables. CDPRs have several advantages compared to traditional serial or parallel robots. They have high ratio of payload to robot weight and a much larger workspace which make them appropriate for high speed applications [1], lifting heavy loads [2], camera positioning in sports stadium...

Cable winding is an alternative technology to create stator windings in large electrical machines. Today such cable winding is performed manually, which is very repetitive, time-consuming and therefore also expensive. This paper presents the design, function and control system of a developed cable feeder tool for robotized stator cable winding. The presented tool was able to catch a cable insid...

Underactuated Cable-Driven Parallel Robots (CDPR) employ a number of cables smaller than the degrees freedom (DoFs) end-effector (EE) that they control. As consequence, EE is underconstrained and preserves some freedoms even when all actuators are locked, which may lead to undesirable oscillations. This paper proposes methodology for computation natural oscillation frequencies, whose knowledge ...

In this paper we present modeling and control of a multicable suspended mechanism called the ‘2D SpiderCrane’. A spidercrane does not have any conventional heavy components and makes use of cables by virtue of which high transfer speeds are achievable. The initial part of the paper addresses the modeling of the mechanism, where the cable and pulley dynamics are separated, and the payload is vie...

The response of a suspended cables subjected to narrow-band random excitations with two types of peaked P.S.D. is formulated and analyzed. Banach fixed-point theorem is used for eigenfunction analysis of the differential-integral equations of motion for the first time in this paper. Fredholm approach also is used in the free vibration analysis of the suspended cable and then using Galerkin mode...

This article presents a novel autonomous system concept for automated construction of houses and other buildings via deposition of concrete and similar materials. The overall system consists of a novel cable-suspended mobility subsystem (a self-contained extension of the RoboCrane), a deposition nozzle subsystem, a metrology subsystem, and a material supply subsystem. This article focuses mainl...