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- W4210880923 abstract "Given their advantages of large workspaces and high payload-to-weight ratios, cable-driven parallel mechanisms have great potential for use in on-site autonomous construction. This paper proposes a configuration containing two cable-suspended robots driven by eight cable pairs (four cable pairs each), which form parallelograms, to perform construction efficiently in terms of time and space. A core issue of this system is the collision problems that occur in dynamic construction processes . The use of the distance between two spatial line segments is proposed to calculate collision detection , and the wrench-feasible workspace is examined to analyze the collision-free buildable workplace. The operation mode of dual cable-suspended robots for construction is discussed herein. Further, the design variables of the dual cable-suspended robot are optimized using multi-objective particle swarm algorithm to ensure a sufficiently large collision-free buildable workspace with suitable scale and payload of the frame of the cable robots for construction." @default.
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- W4210880923 date "2022-05-01" @default.
- W4210880923 modified "2023-10-05" @default.
- W4210880923 title "Workspace analysis and optimal design of dual cable-suspended robots for construction" @default.
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- W4210880923 doi "https://doi.org/10.1016/j.mechmachtheory.2022.104763" @default.
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