@inproceedings{IturraldeFeuchtHuetal., author = {Iturralde, Kepa and Feucht, Malte and Hu, Rongbo and Pan, Wen and Schlandt, Marcel and Linner, Thomas and Bock, Thomas and Izard, Jean-Baptizste and Eskudero, Ibon and Rodriguez, Mariola and Gorrotxategi, Jose and Astudillo, Julen and Cavalcanti Santos, Jo{\~a}o. and Gouttefarde, Marc and Fabritius, Marc and Martin, Christoph and Henninge, Tomas and Stein, M. Nornes and Normes, Stein M. and Jacobsen, Yngve and Pracucci, Alessandro and Ca{\~n}ada, Jesus and Jimenez-Vicaria, Jose David and Paulotto, Carlo and Alonso, Rub{\´e}n and Elia, Lorenzo}, title = {A Cable Driven Parallel Robot with a Modular End Effector for the Installation of Curtain Wall Modules (Best Paper Award)}, series = {Proceedings of the 37th International Symposium on Automation and Robotics in Construction (ISARC 2020): From Demonstration to Practical Use, To New Stage of Construction Robot, October 27-28, 2020, Kitakyushu, Japan}, booktitle = {Proceedings of the 37th International Symposium on Automation and Robotics in Construction (ISARC 2020): From Demonstration to Practical Use, To New Stage of Construction Robot, October 27-28, 2020, Kitakyushu, Japan}, editor = {Tateyama, Kazuyoshi and Ishii, Kazuo and Inoue, Fumihiro}, publisher = {The International Association for Automation and Robotics in Construction (I.A.A.R.C.)}, isbn = {978-952-94-3634-7}, doi = {10.22260/ISARC2020/0204}, pages = {1472 -- 1479}, abstract = {The installation of curtain wall modules (CWMs) is a risky activity carried out in the heights and often under unfavorable weather conditions. CWMs are heavy prefabricated walls that are lifted normally with bindings and cranes. High stability is needed while positioning in order not to damage the fragile CWMs. Moreover, this activity requires high precision while positioning brackets, the modules, and for that reason, intensive survey and marking are necessary. In order to avoid such inconveniences, there were experiences to install fa{\c{c}}ade modules in automatic mode using robotic devices. In the research project HEPHAESTUS, a novel system has been developed in order to install CWMs automatically. The system consists of two subsystems: a cable driven parallel robot (CDPR) and a set of robotic tools named as Modular End Effector (MEE). The platform of the CDPR hosts the MEE. This MEE performs the necessary tasks of installing the curtain wall modules. There are two main tasks that the CDPR and MEE need to achieve: first is the fixation of the brackets onto the concrete slab, and second is the picking and placing of the CWMs onto the brackets. The first integration of the aforementioned system was carried out in a controlled environment that resembled a building structure. The results of this first test show that there are minor deviations when positioning the CDPR platform. In future steps, the deviations will be compensated by the tools of the MEE and the installation of the CWM will be carried out with the required accuracy automatically.}, language = {en} } @incollection{IturraldePanLinneretal., author = {Iturralde, Kepa and Pan, Wen and Linner, Thomas and Bock, Thomas}, title = {Automation and robotic technologies in the construction context: research experiences in prefabricated fa{\c{c}}ade modules}, series = {Rethinking building skins : Transformative technologies and research trajectories}, booktitle = {Rethinking building skins : Transformative technologies and research trajectories}, editor = {Gasparri, Eugenia and Brambilla, Arianna and Lobaccaro, Gabriele and Goia, Francesco}, publisher = {Elsevier}, address = {Cambridge, MA}, isbn = {9780128224779}, doi = {10.1016/B978-0-12-822477-9.00009-7}, pages = {475 -- 493}, abstract = {In recent years, there has been an increase in robots that perform activities in the built environment. In this chapter, projects were featured as case studies to demonstrate the potential of using automation and robotic technologies to facilitate building fa{\c{c}}ade installation tasks. The Building Energy Renovation Through Timber-Prefabricated Modules (BERTIM) and the Highly automatEd PHysical Achievements and performancES using cable roboTs Unique Systems (HEPHAESTUS) research projects consist of researching, developing and prototyping different automated solutions for the handling of building envelopes in various processes of the installation sequence. The BERTIM research project focuses on building envelope upgrading, automated building fa{\c{c}}ade manufacturing, while the HEPHAESTUS research project is focused on the cable-driven parallel robot for the installation of curtain wall modules. Both projects have proved the potential use of new technologies for the installation of prefabricated envelopes and reduced working time and costs during installation.}, language = {en} }