Self-contained automated construction deposition system

This article presents a novel autonomous system concept for automated construction of houses and other buildings via deposition of concrete and similar materials. The overall system consists of a novel cable-suspended mobility subsystem (a self-contained extension of the RoboCrane), a deposition nozzle subsystem, a metrology subsystem, and a material supply subsystem. This article focuses mainly on the kinematics and statics analysis for control of the self-contained cable-suspended mobility subsystem. We also present alternate design concepts for the mobility system. The purpose of the Cartesian metrology system is to provide an outer-loop controller to provide the required Cartesian pose motions despite uncertainties and unmodeled effects such as cable stretch, wear, and flexibility, plus wind loads.