Abstract
A cable-driven parallel robot for automated masonry construction is currently under development. Besides the mechatronic design and component engineering, a simulation framework has been realized to optimize the cable robot motions with respect to technical and economic requirements, which supports both the prediction of the potential and limitations of this approach as well as the reduction of the risk for further development activities.The framework generates suitable trajectories for every masonry unit to be placed, considering several requirements and optimization criteria. These include motion time, collision avoidance, stiffness, cable forces and energy requirements. The framework uses a hybrid particle swarm algorithm for global optimization.The paper presents the trajectory modeling and the definition of the cost functions derived from physical models of the cable robot. It includes the analysis of simulation results that illustrate the generated trajectories.
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