Selection of Robot for Contour Crafting Using Analytical Hierarchy Process
More details
Hide details
Mechatronics Engineering, SRMIST, Kattankulathur
Architecture, SRMIST, Kattankulathur
These authors had equal contribution to this work
Submission date: 2023-10-27
Final revision date: 2023-12-15
Acceptance date: 2023-12-23
Online publication date: 2024-02-01
Publication date: 2024-02-01
Corresponding author
Senthilraja Shanmugasundaram   

Mechatronics Engineering, SRMIST, Kattankulathur
Civil and Environmental Engineering Reports 2023;33(4):123-150
The use of robotic equipment and a new technique called contour crafting allows for the construction of buildings at lower labor and material costs. The selection of the type of robot is an important factor that affects the overall performance of the contour crafting (CC) system. Various robot configurations, such as gantry, cylindrical, and SCARA, may be employed for contour crafting. There are benefits and drawbacks to using different types of robots for various tasks, including cost, work volume, material compatibility, and precision. Identifying a proper robot using the multi-criterion decision-making (MCDM) technique is crucial for successful building automation. This article uses the analytical hierarchy process (AHP) method to rank the best robots according to several characteristics. Cartesian robots, cylindrical robots, and SCARA robots were evaluated based on cost, accuracy, work volume, surface finish, type of profile, and speed. The results showed that the gantry-type robot is the most suitable option, while the cylindrical robot is unsuitable for building construction due to lower accuracy.
Allouzi, R Al-Azhari, W and Allouzi, R 2020. Conventional construction and 3D printing: A comparison study on material cost in Jordan. Journal of Engineering, 2020, 1-14.
Khoshnevis, B Carlson, A and Thangavelu, M 2017. ISRU-based robotic construction technologies for lunar and martian infrastructures. NIAC Phase II Final Report (No. HQ-E-DAA-TN41353).
Khoshnevis, B Hwang, D Yao, KT and Yeh, Z 2006. Mega-scale fabrication by contour crafting. International Journal of Industrial and Systems Engineering, 1(3), 301-320.
Khoshnevis, B 2004. Automated construction by contour crafting—related robotics and information technologies. Automation in construction, 13(1), 5-19.
Rouhana, CM Aoun, MS Faek, FS Eljazzar, MS and Hamzeh, FR 2014. The reduction of construction duration by implementing contour crafting (3D printing). Proceedings of the 22nd Annual Conference of the IGLD: Understanding and Improving Project Based Production, Oslo, Norway, 1031-1042.
Hwang, D Khoshnevis, B and Daniel, E 2004. Concrete wall fabrication by contour crafting. In 21st international symposium on automation and robotics in construction (ISARC 2004), South Korea, 301-307.
Khoshnevis, B Bukkapatnam, S Kwon, H and Saito, J 2001. Experimental investigation of contour crafting using ceramics materials. Rapid Prototyping Journal, 7(1), 32-42.
Bosscher, P Williams II, RL Bryson, LS and Castro-Lacouture, D 2007. Cable-suspended robotic contour crafting system. Automation in construction, 17(1), 45-55.
Khorramshahi, M R and Mokhtari, A 2017. Automatic construction by contour crafting technology. Emerging Science Journal, 1(1), 28-33.
Khoshnevis, B Yuan, X Zahiri, B Zhang, J and Xia, B 2016. Construction by Contour Crafting using sulfur concrete with planetary applications. Rapid Prototyping Journal, 22(5), 848-856.
Subrin, K Bressac, T Garnier, S Ambiehl, A Paquet, E Furet, B 2018. Improvement of the mobile robot location for dedicated for habitable house construction by 3D Printing, IFAC PapersOnLine 51(11), 716-721.
Zhang, J Khoshnevis, B 2010. Contour Crafting Process Plan Optimization Part II: Multi-Machine Cases. Journal of Industrial and Systems Engineering, 4(2), 77-94.
Zhang, J Khoshnevis, B 2010. Contour Crafting Process Plan Optimization Part I: Single-Nozzle Case. Journal of Industrial and Systems Engineering, 4(1), 33-46.
Valente, M Sibai, A and Sambucci, M 2019. Extrusion-based additive manufacturing of concrete products: revolutionizing and remodeling the construction industry. Journal of Composites Science, 3(3), 88.
Zareiyan, B Khoshnevis, B 2013. Interlayer Adhesion and strength of structures in Contour crafting – Effects of Aggregate size, Extrusion rate and Layer thickness. Automation in Construction, 81, 112-121.
Yeh, Z and Khoshnevis, B 2009. Geometric conformity analysis for automated fabrication processes generating ruled surfaces: demonstration for contour crafting. Rapid Prototyping Journal, 15(5), 361-369.
Khoshnevis, B Bukkapatnam, S Kwon, H Saito J 2001. Experimental investigation of contour crafting using ceramics. Rapid Prototyping Journal, 7(1), 32-42.
Khoshnevis, B Russell, R Hongkyu Kwon, S Bukkapatnam 2001. Crafting large prototypes. IEEE Robotics & Automation Magazine, 8(3), 33-42.
Ding, L Wei, R Che, H 2014.Development of a BIM-based Automated Construction System. Procedia Engineering, 85, 123 – 131.
Sakin, M Kiroglu, YC 2017. 3D Printing of Buildings: Construction of the Sustainable Houses of the Future by BIM. Energy Procedia, 134, 702-711.
Davtalab, O Kazemian, A Khoshnevis, B 2018. Perspectives on a BIM integrated software platform for Robotic construction through Contour crafting. Automation in Construction, 89, 13-23.
Singh, A Malik, SK 2014. MCDM Techniques and their application-A Review. IOSR Journal of Engineering (IOSRJEN), 04(05), 15-25.
Hagag, AM Yousef, LS Abdelmaguid, TF 2023. Multi-Criteria Decision-Making for Machine Selection in Manufacturing and Construction: Recent Trends. Mathematics, 11(3), 631.
Kumar, A Sah, B Singh, AR Deng, Y He, X Kumar, P and Bansal, RC 2017. A review of multi criteria decision making (MCDM) towards sustainable renewable energy development. Renewable and Sustainable Energy Reviews, 69(C), 596-609.
Saaty, TL 1990. How to make a decision: The analytic hierarchy process. European Journal of Operational Research, 48(1), 9-26.
Foteinopoulos, P Papacharalampopoulos, A Stavropoulos, P 2019. Block-based Analytical Hierarchy Process applied for the evaluation of Construction Sector Additive Manufacturing, 52nd CIRP Conference on Manufacturing Systems. Procedia CIRP, 81(2019). 950–955.
Goh, CH 1997 Analytic hierarchy process for robot selection. Journal of Manufacturing Systems, 16(5), 381-386.
Breaz, RE Bologa, O and Racz, SG 2017. Selecting industrial robots for milling applications using AHP. Procedia computer science, 122, 346-353.
Özgürler, E Güneri, AF, Lmaz, and Yıldiz, 2011. Trends in the Development of Machinery and Associated Technology, 15th International Research/Expert Conference, 1 TMT 2011, Prague, Czech Republic, 12-18.
Bhattacharyay, A Sarkar, BY and Mukherjee, SK 2005. Integrating AHP with QFD for robot selection under requirement perspective, International Journal of Production Research, 43(17), 3671–3685.
Hermawan, R, Habibie, MT, Sutrisno, D Putra, AS and Aisyah, N 2021. Decision Support System for The Best Employee Selection Recommendation Using AHP (Analytic Hierarchy Process) Method. International Journal of Educational Research and Social Sciences (IJERSC), 2(5), 1218-1226.
Murad, D Dewi, M Novitasari, Y Soleh, A and Hudaifi 2020. Decision Support System of Warehouse Allocation using Analytical Hierarchy Process Method. Proceedings of the International Conferences on Information System and Technology (CONRIST 2019), 294-298.
Ransikarbum, K Pitakaso, R and Kim, N 2020. A decision-support model for additive manufacturing scheduling using an integrative analytic hierarchy process and multi-objective optimization. Applied Sciences, 10(15), 5159.
Dorf, RC 2017. Systems, Controls, Embedded Systems, Energy, and Machines. In: Dorf, RC (ed) Technology & Engineering, CRC Press, Boca Raton, 14-1.
Mole, RS Rode, AM Phadtare, KN Patil, PD and Satpute, JB 2017. A Literature Review on Structural Properties of Different Types of Robots. GRD Journal for Engineering, 2(4), 46-51.
Journals System - logo
Scroll to top