Simulation-Based Comparison of Novel Automated Construction Systems
As automated construction processes require large workspaces and high payloads, the use of cables is a reasonable approach to span wide distances and share loads. Therefore, a cable-driven parallel robot is a suitable choice for automated masonry construction. Another possible robotic system for thi...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-10-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/11/6/119 |
| _version_ | 1797455406502510592 |
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| author | Lukas Herrmann Roland Boumann Mario Lehmann Samuel Müller Tobias Bruckmann |
| author_facet | Lukas Herrmann Roland Boumann Mario Lehmann Samuel Müller Tobias Bruckmann |
| author_sort | Lukas Herrmann |
| collection | DOAJ |
| description | As automated construction processes require large workspaces and high payloads, the use of cables is a reasonable approach to span wide distances and share loads. Therefore, a cable-driven parallel robot is a suitable choice for automated masonry construction. Another possible robotic system for this task consists of a set of cooperative drones, each connected to the end effector and the payload by a cable. Because of the similarities between the two robotic systems, the same object-oriented programmed software can be used for trajectory planning and subsequent investigations, making minor adjustments. The implemented optimizing path planning algorithm takes into account the physical boundaries, motion time, collision avoidance and energy requirements. Thus, a simulation-based comparison of the characteristics of both systems can be made. In this paper, the necessary physical models for both the drone system and the cable robot are derived in detail. Based on the common framework, this paper presents a comparison between the two robotic systems, defining two different scenarios. The first scenario demonstrates the functioning of the optimizer approach. The second scenario is used to compare the two systems. For this purpose, the trajectories for all 1720 masonry units of the first floor of a house are optimized. The analysis of the results shows that both systems can transport heavy loads, with the cable robot having advantages on smaller sites, while the drone system covers larger distances for the price of slower performance and higher energy consumption. |
| first_indexed | 2024-03-09T15:53:57Z |
| format | Article |
| id | doaj.art-d6fd6a6dc8144c2c86ea564e0d535990 |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-03-09T15:53:57Z |
| publishDate | 2022-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-d6fd6a6dc8144c2c86ea564e0d5359902023-11-24T17:50:12ZengMDPI AGRobotics2218-65812022-10-0111611910.3390/robotics11060119Simulation-Based Comparison of Novel Automated Construction SystemsLukas Herrmann0Roland Boumann1Mario Lehmann2Samuel Müller3Tobias Bruckmann4Chair of Mechatronics, University of Duisburg-Essen, Forsthausweg 2, 47057 Duisburg, GermanyChair of Mechatronics, University of Duisburg-Essen, Forsthausweg 2, 47057 Duisburg, GermanyChair of Mechatronics, University of Duisburg-Essen, Forsthausweg 2, 47057 Duisburg, GermanyChair of Mechatronics, University of Duisburg-Essen, Forsthausweg 2, 47057 Duisburg, GermanyChair of Mechatronics, University of Duisburg-Essen, Forsthausweg 2, 47057 Duisburg, GermanyAs automated construction processes require large workspaces and high payloads, the use of cables is a reasonable approach to span wide distances and share loads. Therefore, a cable-driven parallel robot is a suitable choice for automated masonry construction. Another possible robotic system for this task consists of a set of cooperative drones, each connected to the end effector and the payload by a cable. Because of the similarities between the two robotic systems, the same object-oriented programmed software can be used for trajectory planning and subsequent investigations, making minor adjustments. The implemented optimizing path planning algorithm takes into account the physical boundaries, motion time, collision avoidance and energy requirements. Thus, a simulation-based comparison of the characteristics of both systems can be made. In this paper, the necessary physical models for both the drone system and the cable robot are derived in detail. Based on the common framework, this paper presents a comparison between the two robotic systems, defining two different scenarios. The first scenario demonstrates the functioning of the optimizer approach. The second scenario is used to compare the two systems. For this purpose, the trajectories for all 1720 masonry units of the first floor of a house are optimized. The analysis of the results shows that both systems can transport heavy loads, with the cable robot having advantages on smaller sites, while the drone system covers larger distances for the price of slower performance and higher energy consumption.https://www.mdpi.com/2218-6581/11/6/119cable robotdrone cooperationnumerical optimizationpath planningrobotic constructionconstruction automation |
| spellingShingle | Lukas Herrmann Roland Boumann Mario Lehmann Samuel Müller Tobias Bruckmann Simulation-Based Comparison of Novel Automated Construction Systems Robotics cable robot drone cooperation numerical optimization path planning robotic construction construction automation |
| title | Simulation-Based Comparison of Novel Automated Construction Systems |
| title_full | Simulation-Based Comparison of Novel Automated Construction Systems |
| title_fullStr | Simulation-Based Comparison of Novel Automated Construction Systems |
| title_full_unstemmed | Simulation-Based Comparison of Novel Automated Construction Systems |
| title_short | Simulation-Based Comparison of Novel Automated Construction Systems |
| title_sort | simulation based comparison of novel automated construction systems |
| topic | cable robot drone cooperation numerical optimization path planning robotic construction construction automation |
| url | https://www.mdpi.com/2218-6581/11/6/119 |
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