Cable-driven parallel robot for curtain wall module installation Article - Juin 2022

Kepa Iturralde, Malte Feucht, Daniel Illner, Rongbo Hu, Wen Pan, Thomas Linner, Thomas Bock, Ibon Eskudero, Mariola Rodriguez, Jose Gorrotxategi, Jean-Baptiste Izard, Julen Astudillo, João Cavalcanti Santos, Marc Gouttefarde, Marc Fabritius, Christoph Martin, Tomas Henninge, Stein M. Nornes, Yngve Jakobsen, Alessandro Pracucci, Jesus Canada, Jose David Jimenez-Vicaria, Rubén Alonso, Lorenzo Elia

Kepa Iturralde, Malte Feucht, Daniel Illner, Rongbo Hu, Wen Pan, Thomas Linner, Thomas Bock, Ibon Eskudero, Mariola Rodriguez, Jose Gorrotxategi, Jean-Baptiste Izard, Julen Astudillo, João Cavalcanti Santos, Marc Gouttefarde, Marc Fabritius, Christoph Martin, Tomas Henninge, Stein M. Nornes, Yngve Jakobsen, Alessandro Pracucci, Jesus Canada, Jose David Jimenez-Vicaria, Rubén Alonso, Lorenzo Elia, « Cable-driven parallel robot for curtain wall module installation  », Automation in Construction, juin 2022, p. 104235. ISSN 0926-5805

Abstract

A cable-driven parallel robot (CDPR) was developed for the installation of curtain wall modules (CWM). The research addressed the question of whether the CDPR was capable installing CWMs with sufficient accuracy while being competitive compared to conventional manual methods. In order to develop and test such a system, a conceptual framework that consisted of three subsystems was defined. The tests, carried out in two close-to-real demonstration buildings, revealed an absolute accuracy of the CWM installation of 4 to 23 mm. The working time for installing a CWM was reduced to 0.51 h. The results also show that the system is competitive for a workspace greater than 96 m 2 compared to conventional manual methods. However, improvements such as reducing the hours for setting up the CDPR on the one hand and achieving a faster and more robust MEE on the other hand will be still necessary in the future.

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