A two-nozzle cable-driven parallel robot for 3D printing building construction: path optimization and vibration analysis

This paper proposes a novel two-nozzle cable-driven parallel robot (CDPR) for 3D printing building construction. system has two independently moving nozzles mounted on the existing head. Thus, time can be reduced dramatically with this as travel path of head to almost half thanks those that print contour. To fully take advantage nozzle structures effectively, is optimized secure minimum length both and nozzles. The smoothness optimal secured by applying non-uniform rational B-splines (NURBS). In addition, free vibration proposed CDPR printer’s structure analyzed improve quality help control using finite element formulation cables robot. From analysis results, critical design guide—stiffness could raised increasing cable tension in distribution optimization algorithm—was obtained well.