Automated Construction of Masonry Buildings using Cable-Driven Parallel Robots

摘要

This paper presents an approach of using cabledriven parallel robots for automated construction. Masonry buildings are considered as appropriate application case due to repetitive construction procedures, high demands on quality as well as accuracy of construction, and handling of small and lightweight material. In this context, the application of Building Information Modeling (BIM) as data source is proposed. Furthermore, a simulation model representing the operation method of a wire robot is created to analyze the process of assembling a masonry wall. Special focus lies on creating collision-free motion profiles that can be exported to the robot control system.