CDPR for 3D Concrete Printing

Cable-driven concrete printing · Ongoing

Project Overview

I am developing a cable-driven parallel robot for 3D concrete printing. My work spans robot design, assembly, software development, calibration, kinematic and static workspace analysis, and validation through dry runs and concrete-printing trials.

The assembled CDPR in the laboratory, with its structural frame, winches, cables, and empty central tool carrier — Laboratory assembly: the full frame, perimeter winches, and central tool carrier.

Project Details

From robot design to printing trials

The robot uses coordinated cables to position a printing tool within its workspace. My contribution brings together the mechanical system, software, and experimental work needed to move from an assembled robot to printing trials.

Two more views of the frame and drives

A side view of the assembled CDPR frame with winches along the lower perimeter — The assembled frame and the winch units along its lower perimeter.

Another laboratory view of the CDPR showing the foreground winches, cable routing, and central metal carrier — A second view of the drive layout, cable routing, and central carrier.

System arrangement

Conceptual CDPR schematic with numbered frame, winches, cables, tool carrier, and example nozzle with feeding hose — 1 Support frame
2 Winch drives
3 Cables
4 Tool carrier
5 Example nozzle and feed hose
Conceptual schematic. Cable count, routing, and proportions are simplified. Open full-size figure

Kinematic and static workspace analysis

I study where the tool carrier can operate by considering both its geometry and the feasibility of the cable tensions. The diagrams below illustrate these two checks.

Conceptual kinematic diagram relating tool-carrier pose q to cable lengths, with one cable length highlighted — **Kinematics**
Relate the carrier pose q to cable lengths ℓ, then check reachability against geometry and cable-length limits.

Conceptual static force diagram with pulling cable tensions and a downward external load, requiring force and moment equilibrium — **Statics**
Check whether cable tensions within their permitted limits can balance the specified load in force and moment.

These are conceptual diagrams with illustrative geometry and force directions, rather than calculated workspace maps.

Example nozzle integration

AI-edited concept showing a compact concrete-printing nozzle within the central metal carrier, connected to a flexible feeding hose — **AI-edited concept illustration.** An example nozzle fits inside the existing carrier frame, with a concrete feed hose connected from the side. View full size

Selected Contributions

Design and assemble the robot, integrating its mechanical and printing hardware.
Develop the robot software and carry out system calibration.
Perform kinematic and static workspace analysis to evaluate reachable poses and cable-tension feasibility.
Carry out dry runs and concrete-printing trials as part of ongoing system development.

Research context

This robot development forms part of a wider research programme on sustainable 3D concrete printing. The programme brings together materials research, computational modelling, robotics, and automated printing; my work focuses on the cable-driven robot.

CityUHK Scholars: Tomorrow is Now — Eco-friendly Autonomous Construction through Sustainable 3D Concrete Printing