Kinematics of a Cable-Driven Robotic Platform for Large-Scale Additive Manufacturing

Chesser, Phillip; Wang, Peter; Vaughan, Joshua; Lind, Randy; Post, Brian

doi:10.1115/1.4052010

Kinematics of a Cable-Driven Robotic Platform for Large-Scale Additive Manufacturing

Journal Article · Thu Sep 23 00:00:00 EDT 2021 · Journal of Mechanisms and Robotics

DOI:https://doi.org/10.1115/1.4052010· OSTI ID:1822074

Chesser, Phillip ^[1]; Wang, Peter ^[1]; ^[1]; ^[1]; ^[1]

Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)

Concrete additive manufacturing (AM) is a growing field of research. However, on-site, large-scale concrete additive manufacturing requires motion platforms that are difficult to implement with conventional rigid-link robotic systems. This article presents a new kinematic arrangement for a deployable cable-driven robot intended for on-site AM. The kinematics of this robot are examined to determine if they meet the requirements for this application, the wrench feasible workspace (WFW) is examined, and the physical implementation of a prototype is also presented. Data collected from the physical implementation of the proposed system are analyzed, and the results support its suitability for the intended application. The success of this system demonstrates that this kinematic arrangement is promising for future deployable AM systems.

View Accepted Manuscript (DOE)

Research Organization:: Oak Ridge National Laboratory (ORNL), Oak Ridge, TN (United States)

Sponsoring Organization:: USDOE Office of Energy Efficiency and Renewable Energy (EERE)

Grant/Contract Number:: AC05-00OR22725

OSTI ID:: 1822074

Journal Information:: Journal of Mechanisms and Robotics, Journal Name: Journal of Mechanisms and Robotics Journal Issue: 2 Vol. 14; ISSN 1942-4302

Publisher:: American Society of Mechanical Engineers (ASME)Copyright Statement

Country of Publication:: United States

Language:: English

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