A cabledriven robot for architectural constructio

Authors: Andry Maykol Pinto Eduardo Moreira José Lima José Pedro Sousa Pedro Costa

Publish Date: 2016/10/27

Volume: 41, Issue: 7, Pages: 1487-1499

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Abstract

Cabledriven robots have received some attention by the scientific community and recently by the industry because they can transport hazardous materials with a high level of safeness which is often required by construction sites In this context this research presents an extension of a cabledriven robot called SPIDERobot that was developed for automated construction of architectural projects The proposed robot is formed by a rotating claw and a set of four cables enabling four degrees of freedom In addition this paper proposes a new VisionGuided PathPlanning System VGPP that provides a visual interpretation of the scene the position of the robot the target and obstacles location and optimizes the trajectory of the robot Moreover it determines a collisionfree trajectory in 3D that takes into account the obstacles and the interaction of the cables with the scene A set of experiments make possible to validate the contribution of VGPP to the SPIDERobot while operating in realistic working conditions as well as to evaluate the interaction between the VGPP and the motion controlling system The results demonstrated that the proposed robot is able to construct architectural structures and to avoid collisions with obstacles in their working environment The VGPP system localizes the robot with a precision of 0006 m detects the targets and successfully generates a path that takes into account the displacement of cables Therefore the results demonstrate that the SPIDERobot can be scaled up to real working conditionsThis work is partly funded by the project PTDC/ATPAQI/5124/2012 Robotic Technologies for NonStandard Design and Construction in Architecture This work is also financed by the ERDF European Regional Development Fund through the COMPETE Programme operational programme for competitiveness and by National Funds through the FCT Portuguese Foundation for Science and Technology within project “FCOMP 010124FEDER022701”

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