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This paper presents the CU-Brick system, a cable-driven parallel robot (CDPR), as an application for the construction of the Yard for Environmental Sustainability (YES) project. This paper presents the robot system design, kinematics and dynamics, workspace analysis, and operation. The robot integrates fiducial marker and high-resolution 3D spatial data measurements to achieve accurate calibration and localization. In a construction area of 13 m \(\times \) 9 m, the brick structure is built at a total height of 2.5 m, comprising 40 layers and more than 5,800 bricks. Its real-world performance was experimentally evaluated both qualitatively and quantitatively. The robot system demonstrated the ability to construct complex structures autonomously while maintaining high levels of precision and efficiency. These results affirm its potential for scalable deployment and real-world constructions.

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Development of CU-Brick Brick Laying Cable-Driven Robot for a Real-World Construction Project

  • 会议论文

  • 发表日期：

    2025年

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  • Man Loc Cheung,
  • Xinyan Zhao,
  • Tsz Lok Chung,
  • Wai Yi Lam,
  • Adam Fingrut,
  • Darwin Lau

摘要

This paper presents the CU-Brick system, a cable-driven parallel robot (CDPR), as an application for the construction of the Yard for Environmental Sustainability (YES) project. This paper presents the robot system design, kinematics and dynamics, workspace analysis, and operation. The robot integrates fiducial marker and high-resolution 3D spatial data measurements to achieve accurate calibration and localization. In a construction area of 13 m \(\times \) 9 m, the brick structure is built at a total height of 2.5 m, comprising 40 layers and more than 5,800 bricks. Its real-world performance was experimentally evaluated both qualitatively and quantitatively. The robot system demonstrated the ability to construct complex structures autonomously while maintaining high levels of precision and efficiency. These results affirm its potential for scalable deployment and real-world constructions.