<?xml version="1.0" encoding="utf-8"?>
<export-example>
  <doc>
    <id>3587</id>
    <completedYear/>
    <publishedYear>2022</publishedYear>
    <thesisYearAccepted/>
    <language>eng</language>
    <pageFirst/>
    <pageLast/>
    <pageNumber/>
    <edition/>
    <issue>June</issue>
    <volume>138</volume>
    <type>article</type>
    <publisherName>Elsevier</publisherName>
    <publisherPlace/>
    <creatingCorporation/>
    <contributingCorporation/>
    <belongsToBibliography>0</belongsToBibliography>
    <completedDate>--</completedDate>
    <publishedDate>--</publishedDate>
    <thesisDateAccepted>--</thesisDateAccepted>
    <title language="eng">Cable-driven parallel robot for curtain wall module installation</title>
    <abstract language="eng">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.</abstract>
    <parentTitle language="eng">Automation in Construction</parentTitle>
    <identifier type="doi">10.1016/j.autcon.2022.104235</identifier>
    <enrichment key="opus.import.date">2022-04-21T19:33:48+00:00</enrichment>
    <enrichment key="opus.source">sword</enrichment>
    <enrichment key="opus.import.user">importuser</enrichment>
    <enrichment key="BegutachtungStatus">peer-reviewed</enrichment>
    <licence>Keine Lizenz - Es gilt das deutsche Urheberrecht: § 53 UrhG</licence>
    <author>Kepa Iturralde</author>
    <author>Malte Feucht</author>
    <author>Daniel Illner</author>
    <author>Rongbo Hu</author>
    <author>Wen Pan</author>
    <author>Thomas Linner</author>
    <author>Thomas Bock</author>
    <author>Ibon Eskudero</author>
    <author>Mariola Rodriguez</author>
    <author>Jose Gorrotxategi</author>
    <author>Jean-Baptizste Izard</author>
    <author>Julen Astudillo</author>
    <author>João. Cavalcanti Santos</author>
    <author>Marc Gouttefarde</author>
    <author>Marc Fabritius</author>
    <author>Christoph Martin</author>
    <author>Tomas Henninge</author>
    <author>Stein M. Normes</author>
    <author>Yngve Jacobsen</author>
    <author>Alessandro Pracucci</author>
    <author>Jesus Cañada</author>
    <author>Jose David Jimenez-Vicaria</author>
    <author>Rubén Alonso</author>
    <author>Lorenzo Elia</author>
    <subject>
      <language>deu</language>
      <type>uncontrolled</type>
      <value>Accuracy</value>
    </subject>
    <subject>
      <language>deu</language>
      <type>uncontrolled</type>
      <value>Cable-robot</value>
    </subject>
    <subject>
      <language>deu</language>
      <type>uncontrolled</type>
      <value>Facade</value>
    </subject>
    <subject>
      <language>deu</language>
      <type>uncontrolled</type>
      <value>On-site</value>
    </subject>
    <collection role="institutes" number="FakBau">Fakultät Bauingenieurwesen</collection>
    <collection role="othpublikationsherkunft" number="">Externe Publikationen</collection>
    <collection role="othforschungsschwerpunkt" number="16313">Gebäude und Infrastruktur</collection>
  </doc>
  <doc>
    <id>3601</id>
    <completedYear/>
    <publishedYear>2020</publishedYear>
    <thesisYearAccepted/>
    <language>eng</language>
    <pageFirst>1472</pageFirst>
    <pageLast>1479</pageLast>
    <pageNumber/>
    <edition/>
    <issue/>
    <volume/>
    <type>conferenceobject</type>
    <publisherName>The International Association for Automation and Robotics in Construction (I.A.A.R.C.)</publisherName>
    <publisherPlace/>
    <creatingCorporation/>
    <contributingCorporation/>
    <belongsToBibliography>0</belongsToBibliography>
    <completedDate>--</completedDate>
    <publishedDate>--</publishedDate>
    <thesisDateAccepted>--</thesisDateAccepted>
    <title language="eng">A Cable Driven Parallel Robot with a Modular End Effector for the Installation of Curtain Wall Modules (Best Paper Award)</title>
    <abstract language="eng">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 façade 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.</abstract>
    <parentTitle language="eng">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</parentTitle>
    <identifier type="isbn">978-952-94-3634-7</identifier>
    <identifier type="doi">10.22260/ISARC2020/0204</identifier>
    <enrichment key="opus.import.date">2022-04-26T15:25:48+00:00</enrichment>
    <enrichment key="opus.source">sword</enrichment>
    <enrichment key="opus.import.user">importuser</enrichment>
    <enrichment key="BegutachtungStatus">peer-reviewed</enrichment>
    <licence>Keine Lizenz - Es gilt das deutsche Urheberrecht: § 53 UrhG</licence>
    <author>Kepa Iturralde</author>
    <author>Malte Feucht</author>
    <author>Rongbo Hu</author>
    <author>Wen Pan</author>
    <author>Marcel Schlandt</author>
    <author>Thomas Linner</author>
    <author>Thomas Bock</author>
    <author>Jean-Baptizste Izard</author>
    <author>Ibon Eskudero</author>
    <author>Mariola Rodriguez</author>
    <author>Jose Gorrotxategi</author>
    <author>Julen Astudillo</author>
    <author>João. Cavalcanti Santos</author>
    <author>Marc Gouttefarde</author>
    <author>Marc Fabritius</author>
    <author>Christoph Martin</author>
    <author>Tomas Henninge</author>
    <author>M. Nornes Stein</author>
    <author>Stein M. Normes</author>
    <author>Yngve Jacobsen</author>
    <author>Alessandro Pracucci</author>
    <author>Jesus Cañada</author>
    <author>Jose David Jimenez-Vicaria</author>
    <author>Carlo Paulotto</author>
    <author>Rubén Alonso</author>
    <author>Lorenzo Elia</author>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>automation</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Façade</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>On-site</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Robotics</value>
    </subject>
    <collection role="institutes" number="FakBau">Fakultät Bauingenieurwesen</collection>
    <collection role="othpublikationsherkunft" number="">Externe Publikationen</collection>
    <collection role="othforschungsschwerpunkt" number="16313">Gebäude und Infrastruktur</collection>
  </doc>
</export-example>
