Considerable attention has been paid to the exploration of moon, especially the construction of lunar habitat. However, few studies are found working on the construction equipment being suitable for trans planetary transportation, assembly, and working in lunar environment. This paper proposed a novel cable-driven printer used to build lunar architecture. The pose measurement and control strategy of the printing system is proposed. To study the reconfiguration characteristic of the cable-driven printer, several trees with arbitrary locations were selected as the rack to reconstruct the system outdoors. The key factors such as the sensitivity of pose deviation to system parameters affecting the reconstruction performance is discussed. The forming space of the cable-driven printer is analyzed theoretically and the forming ability of the system is verified experimentally. It is found that the cable-driven printer has the advantages of simple structure, small weight, large forming space and good reconfiguration characteristic, which shows the great potential of the proposed cable-driven printer in the construction of lunar architecture.

月球的探索，尤其是月球栖息地的建设受到了相当的重视。然而，很少有研究发现适用于跨行星运输、组装和在月球环境中工作的建筑设备。本文提出了一种用于建造月球建筑的新型电缆驱动打印机。提出了打印系统的位姿测控策略。为了研究电缆驱动打印机的重构特性，选择了几棵任意位置的树作为机架，在户外重构系统。讨论了姿态偏差对影响重建性能的系统参数的敏感性等关键因素。对电缆驱动打印机的成型空间进行了理论分析，并通过实验验证了系统的成型能力。结果表明，该电缆驱动打印机具有结构简单、重量轻、成型空间大、重构性好等优点，显示了所提出的电缆驱动打印机在月球建筑建造中的巨大潜力。