Self-contained automated construction deposition system
R L. Williams, James S. Albus, Roger V. Bostelman
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 o f a novel cable-suspended mobility subsystem (a selfcontained extension o f the RoboCrane), a deposition nozzle subsystem, a metrology subsystem, and a material supply subsystem. This article focuses mainly on the kinematics and statics analysis for control of the self-contained cable-suspended mobility subsystem. We also present alternate design concepts for the mobility system. The purpose o f the Cartesian metrology system is to provide an outer-loop controller to provide the required Cartesian pose motions despite uncertainties and unmodeled effects such as cable stretch, wear, and flexibility, plus wind loads. 0 2004 Elsevier B.V. All rights reserved.
, Albus, J.
and Bostelman, R.
Self-contained automated construction deposition system, Automation in Construction, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=822501
(Accessed September 26, 2023)