Contour crafting (CC) is a new technology that is proposed for construction. Formerly we presented a cable-suspended robot to implement CC technology with Cartesian motion. The current paper proposes an improved Contour-Crafting-Cartesian-Cable (C4) robot. Although the new concept is preferable in structural design, here we compare the original and improved C4 robot concepts with regard to kinematics, workspace, and stiffness.

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