Cable-driven parallel robot for curtain wall module installation

K. Iturralde; M. Feucht; D. Illner; R. Hu; W. Pan; T. Linner; T. Bock; I. Eskudero; M. Rodriguez; J. Gorrotxategi; J.B. Izard; J. Astudillo; J. Cavalcanti Santos; M. Gouttefarde; M. Fabritius; C. Martin; T. Henninge; S.M. Nornes; Y. Jacobsen; A. Pracucci; J. Cañada; J.D. Jimenez-Vicaria; R. Alonso; L. Elia; S. M. Normes

doi:10.1016/j.autcon.2022.104235

Cable-driven parallel robot for curtain wall module installation

K. Iturralde, M. Feucht, D. Illner, R. Hu, W. Pan, T. Linner, T. Bock, I. Eskudero, M. Rodriguez, J. Gorrotxategi, J.B. Izard, J. Astudillo, J. Cavalcanti Santos, M. Gouttefarde, M. Fabritius, C. Martin, T. Henninge, S.M. Nornes, Y. Jacobsen, A. PracucciJ. Cañada, J.D. Jimenez-Vicaria, R. Alonso, L. Elia, S. M. Normes

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32 Citations (Scopus)

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 sub-systems 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 m2 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.

Original language	English
Article number	104235
Pages (from-to)	104235
Number of pages	1
Journal	Automation in Construction
Volume	138
DOIs	https://doi.org/10.1016/j.autcon.2022.104235
Publication status	Published - Jun 2022

Keywords

Cable-robot
On-site
Facade
Accuracy
Time

Project and Funding Information

Project ID
info:eu-repo/grantAgreement/EC/H2020/732513/EU/Highly automatEd PHysical Achievements and PerformancES using cable roboTs Unique Systems/HEPHAESTUS
Funding Info
This project has received funding from the European Union’s Horizon 2020 research and innovation program under grant_x000D_ agreement No. 732513

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Iturralde, K., Feucht, M., Illner, D., Hu, R., Pan, W., Linner, T., Bock, T., Eskudero, I., Rodriguez, M., Gorrotxategi, J., Izard, J. B., Astudillo, J., Cavalcanti Santos, J., Gouttefarde, M., Fabritius, M., Martin, C., Henninge, T., Nornes, S. M., Jacobsen, Y., ... Normes, S. M. (2022). Cable-driven parallel robot for curtain wall module installation. Automation in Construction, 138, 104235. Article 104235. https://doi.org/10.1016/j.autcon.2022.104235

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title = "Cable-driven parallel robot for curtain wall module installation",

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 sub-systems 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 m2 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.",

keywords = "Cable-robot, On-site, Facade, Accuracy, Time, Cable-robot, On-site, Facade, Accuracy, Time",

author = "K. Iturralde and M. Feucht and D. Illner and R. Hu and W. Pan and T. Linner and T. Bock and I. Eskudero and M. Rodriguez and J. Gorrotxategi and J.B. Izard and J. Astudillo and {Cavalcanti Santos}, J. and M. Gouttefarde and M. Fabritius and C. Martin and T. Henninge and S.M. Nornes and Y. Jacobsen and A. Pracucci and J. Ca{\~n}ada and J.D. Jimenez-Vicaria and R. Alonso and L. Elia and Normes, {S. M.}",

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year = "2022",

month = jun,

doi = "10.1016/j.autcon.2022.104235",

language = "English",

volume = "138",

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Iturralde, K, Feucht, M, Illner, D, Hu, R, Pan, W, Linner, T, Bock, T, Eskudero, I , Rodriguez, M , Gorrotxategi, J, Izard, JB, Astudillo, J, Cavalcanti Santos, J, Gouttefarde, M, Fabritius, M, Martin, C, Henninge, T, Nornes, SM, Jacobsen, Y, Pracucci, A, Cañada, J, Jimenez-Vicaria, JD, Alonso, R, Elia, L & Normes, SM 2022, 'Cable-driven parallel robot for curtain wall module installation', Automation in Construction, vol. 138, 104235, pp. 104235. https://doi.org/10.1016/j.autcon.2022.104235

TY - JOUR

T1 - Cable-driven parallel robot for curtain wall module installation

AU - Iturralde, K.

AU - Feucht, M.

AU - Illner, D.

AU - Hu, R.

AU - Pan, W.

AU - Linner, T.

AU - Bock, T.

AU - Eskudero, I.

AU - Rodriguez, M.

AU - Gorrotxategi, J.

AU - Izard, J.B.

AU - Astudillo, J.

AU - Cavalcanti Santos, J.

AU - Gouttefarde, M.

AU - Fabritius, M.

AU - Martin, C.

AU - Henninge, T.

AU - Nornes, S.M.

AU - Jacobsen, Y.

AU - Pracucci, A.

AU - Cañada, J.

AU - Jimenez-Vicaria, J.D.

AU - Alonso, R.

AU - Elia, L.

AU - Normes, S. M.

PY - 2022/6

Y1 - 2022/6

N2 - 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 sub-systems 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 m2 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.

AB - 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 sub-systems 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 m2 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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KW - On-site

KW - Facade

KW - Accuracy

KW - Time

KW - Cable-robot

KW - On-site

KW - Facade

KW - Accuracy

KW - Time

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U2 - 10.1016/j.autcon.2022.104235

DO - 10.1016/j.autcon.2022.104235

M3 - Article

SN - 0926-5805

VL - 138

SP - 104235

JO - Automation in Construction

JF - Automation in Construction

M1 - 104235

ER -

Cable-driven parallel robot for curtain wall module installation

Abstract

Keywords

Project and Funding Information

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