- By:
- Liu, Yifang ; Hayes, Nolan W; Hun, Diana E; Maldonado Puente, Bryan P
- Journal Name:
- Automation in Construction
- Page Number:
- 107062
- Volume:
- 190
- Publication Date:
- June 9, 2026
- View DOI Listing:
- https://doi.org/10.1016/j.autcon.2026.107062
Abstract
Cable-Driven Parallel Robots (CDPRs) are well-suited for the automated installation of prefabricated components due to their compact footprint and high payload-to-weight ratio. A common CDPR configuration featuring eight cables, where the anchors form a rectangular prism in front of the building facade, offers a large wrench feasible workspace and good control versatility. However, installing upper anchor points requires additional support structures, such as towers or beams, which increases setup complexity and introduces logistical challenges in construction environments. To address these challenges, we propose a fully constrained CDPR specifically designed for installing prefabricated components on building facades. The proposed configuration eliminates the two proximal anchors located away from both the facade and the ground, which typically require additional support structures, leaving four anchors on the ground that can be fastened directly to it and two anchors near the roof that can be mounted either on the roof itself or on simple support structures. Although this arrangement reduces the feasible workspace, our analysis indicates that it sufficiently covers the critical regions needed for prefabricated component installation. To validate that the fully constrained system can effectively transport the end effector to the desired installation pose, we computed optimal trajectories using a constrained dynamic model. We evaluated the trajectory optimization framework using three dynamic models, progressing from an idealized model to a lab-scale prototype model, and finally to a full-scale model designed for installing prefabricated panels on a three-story building. Simulation results demonstrate that the proposed fully constrained CDPR offers strong potential for automated installation of large components, achieving an effective balance between simplicity, cost-efficiency, and functionality.
