Cable suspended parallel robotic system for 3D structural printing

  • Ahmed Nadir Ahmed

Student thesis: Master's Thesis


Three-dimensional concrete printing is a new construction technology that uses a special concrete mix specially prepared to flow easily through a printing equipment's nozzle, the printing nozzle is moved in the workspace using some robotic manipulator to print the required design accurately. This new technology has several advantages over traditional construction methods, as it eliminates the need for mold to do concrete casting, in addition to that the special mix used for printing can cure within a f+++ew days and the complete structure can be printed within hours, thereby providing a faster and cheaper construction method [1]. Many of the Robots used in concrete 3D printing are rigid link serial manipulators that can be large in dimensions, difficult to move, have poor reconfigurability, and consumes a lot of power. An alternative is a cable driven parallel robot (CDPR) which is a design that is simpler, less expensive, more portable, and more customizable, and can work with a variety of construction sizes. Therefore, the main purpose of this research is to design a four-cable-driven robot capable of 3D concrete printing.
Date of AwardJul 2022
Original languageAmerican English


  • Cable-driven-parallel robots
  • Three-dimensional concrete printing
  • robotics manipulators
  • inverse kinematics
  • printhead.

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