The Book of Buckskinning II has pictures, plans, and step-by-step construction of a Rev War canvas/wood cot based on surviving examples, descriptions, and paintings/drawings from back then.
And it's not too much different from modern wood/canvas cots - except it does not fold up into a compact bundle.
Hope this helps.
Mikey - yee ol' grumpy German blacksmith out in the Hinterlands