Modeling and Experimental Validation of a Cable-Driven Robot for Three-Dimensional Printing Construction

Abstract

Cable-driven robots are characterized by a large workspace, high speed, and load-to-weight ratio, providing a new technology approach for large-scale autonomous 3D construction of lunar surface shelters. A novel deployable cable-driven construction 3D printer (CDCP) is developed in this study. Guiding pulleys are considered and modeled to improve the accuracy of the system. A fuzzy adaptive differential evolution PID (FDEPID) control is proposed to reduce end-effector motion errors in Cartesian space and thus improve printing quality and stability. Concentric and zigzag infill strategies are compared to optimize printing efficiency and infill effectiveness in path planning. The simulations focus on evaluating the effects of pulley kinematics on trajectory tracking, evaluating system dynamics under low-gravity conditions, and examining the effectiveness of motion control and path planning methods. Finally, experiments are carried out to validate the proposed FDEPID control and path planning strategies which demonstrate the great potential of the developed cable-driven printer in the construction of lunar architecture.