Subsystems The SMART Light on-site building manufacturing system consists of many integrated subsystems:

1. 1. Frame structure. The frame structure consists of standardized segments and provides a platform for the installation of various OMs and jib cranes (Figures 2.211, 2.212, 2.219, and 2.220).

2. 2. Climbing system. The CSs (Figures 2.214–2.216) consist of a hydraulic actuated inchworm-like CS, which raises the frame structure to which manipulators and cranes are mounted along the stilts of. To lengthen the stilts, the jib cranes place a new segment on top of the end of each of the stilts.

3. 3. Vertical/horizontal delivery system. Jib cranes mounted to the steel frame operate in parallel to the OMs and accomplish vertical as well as horizontal delivery tasks.

4. 4. Horizontal delivery system. Gantry-type OMs with 3 DOFs (translation lengthwise, translation widthwise, lower/lift of end link; Figures 2.213 and 2.222). For reasons of compactness, and to avoid collisions, two outer manipulators are guided by rails at the bottom of the frame, the middle manipulator by rails on top of the frame.

5. 5. Movable roof cover segments (optional). Movable roof cover segments (Figures 2.217 and 2.218) can be mounted to the top of the frame, covering some dedicated work places temporarily, as well as parts of the workspace of the OMs. For delivery of components by the jib cranes, the roof formed by this cover segments can open automatically.

6. 6. Real-time monitoring and management system. The control stations/rooms for the manipulators, as well as for the jib cranes, sit on top of the frame. The gantry-type OMs can be operated in automatic mode as well as via remote control.

7. 7. Ground factory parts/components MHSPY. Small sized and self-supported gantry cranes provide support with material handling, sorting, and logistics preparation on the ground (Figure 2.221).

End-effectors Both the overhead gantry-type manipulators and the vertical HDS use simple (conventional crane-like) multipurpose end-effectors.

System Variations As both the steel stilts and the horizontal frame are composed of standardized linear frame elements, and as the system is independent from the column grid structure of the building. It is highly flexible. Widthwise, one to three gantry-type manipulators can be installed. Lengthwise, the length of the frame girders can be varied. Furthermore, by adding two new stilts, a second frame with an additional one to three manipulators can be added to the lengthwise direction, so that “long” and horizontally oriented buildings can also be erected.