Cable-Driven Parallel Robot for Module Facade Seam Sealing in Modular Construction: Static Workspace Analysis

Authors

  • Chen Qian
  • Xiao Li
  • Chen Song
  • Qianru Du

DOI:

https://doi.org/10.29173/mocs308

Keywords:

Module construction, Seam sealing, Cable-driven parallel robot, Static workspace

Abstract

Traditional seam sealing methods in module construction rely on workers approaching modules at height via lifting platforms or hanging baskets and using tools to seal the crevices between two modules, which are time-consuming and offer a limited workspace. This study explores the use of cable-driven parallel robots (CDPRs) to help workers achieve a wide range of seam sealing, and two cable configurations with different dimensions of CDPRs are investigated to optimize the static workspace. The results reveal that increasing the cables and the CDPRs’ dimensions and controlling the platform in the center of the width side can increase their static workspace. The results suggest a potential to improve the efficiency of future seam sealing work.

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Published

2025-11-01

Issue

2025 MOC Summit: Montreal, Quebec, Canada

Section

Proceedings

License

Copyright (c) 2025 Chen Qian, Xiao Li, Chen Song and Qianru Du

Creative Commons License

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

MOC Summit Proceedings are distributed under a Creative Commons Attribution-NonCommercial-NoDerivs (CC BY-NC-ND) license that allows others to download these proceedings and share them with others with  an acknowledgement of the work's authorship and initial publication in these proceedings. These proceedings may not be changed in any way or used commercially.

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