Cost Effective Design and Development of a Cable-Driven Parallel Robot for Concrete Printing
Bibliographic record
Abstract
Abstract Cable-driven parallel robots (CDPRs) are well known for their large workspace and simple design. They are also easy to transport, assemble and disassemble, and more easily reconfigurable. These properties make them a potential alternative for on-site printing of structures. This work presents the detailed steps for the cost-effective design and development of the CDPR for concrete printing. The cost-effectiveness of the design is ensured by using prefabricated materials/parts available in the local market and reducing the machining cost as much as possible. The robot consists of a mobile platform whose position and orientation are controlled by varying cable lengths by the application of winches. A screw extruder is mounted on the mobile platform to extrude concrete/clay. The controller design for the whole system is detailed, and the measures to obtain the trajectory for printing are discussed. Thereafter, the cost analysis of the entire robot is performed. Finally, experimental results are presented to validate the accuracy of the robot.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.003 | 0.001 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".