Abstract: The subject invention pertains to systems and methods for controlling an end-effector moving in three-dimensional space within long piles or shafts. Systems can include a fixed base platform, a cable-driven working platform, a cable-driven end-effector, a sensing system including draw wire sensors, gyroscopes, sonar sensors, and lidar, a control system in communication with the sensing system, and actuators for cables. The end-effector can be configurable to become a cable-driven parallel end-effector, a serially linked arm, a flexible end-effector or an air-lifting end-tool in cases of cleaning founding layers in bored pile shafts. The control system can be configurable to regulate the lengths of cables through actuators and modulate the positions and orientations of the working platform and the end-effector.

Abstract: A robotic constructing system based on a cable-driven robot for constructing a structure formed by objects such as bricks is provided. The process of laying the bricks is performed by the cable-driven robot autonomously. The bricks are provided to the robotic constructing system by an external conveyor and a robot arm of the robotic constructing system is configured to pick up the bricks. The robot arm is then configured to place the bricks in a position to receive an adhesive from an adhesive dispenser of the robotic constructing system and further to load the bricks onto a linear rail. The linear rail can be configured to place the bricks within the proximity of the cable-driven robot. The cable-driven robot can be configured to pick up the bricks and lay the bricks in the designated position of a three-dimensional space.

Abstract: A robot system for maintenance of a building façade with an irregular façade surface is provided. The robot system includes a platform cooperating with a least four pairs of cables for positioning the platform at a distance from a building façade. At least one robot arm is situated on the platform, and includes an adaptor positioned at a distal end thereof for holding and manipulating a building façade maintenance tool. An actuator drives the cables to move the platform to any arbitrary position along the building façade. A controller cooperates with the actuator to instruct the actuator to drive the cables and to control movement of the robot arm, such that driving the actuator and movement of the robot arm is coordinated by the controller; any position deviations in the platform are compensated for by positioning or movement of the robot arm.

Abstract: A robotic constructing system based on a cable-driven robot for constructing a structure formed by objects such as bricks is provided. The process of laying the bricks is performed by the cable-driven robot autonomously. The bricks are provided to the robotic constructing system by an external conveyor and a robot arm of the robotic constructing system is configured to pick up the bricks. The robot arm is then configured to place the bricks in a position to receive an adhesive from an adhesive dispenser of the robotic constructing system and further to load the bricks onto a linear rail. The linear rail can be configured to place the bricks within the proximity of the cable-driven robot. The cable-driven robot can be configured to pick up the bricks and lay the bricks in the designated position of a three-dimensional space.