TY - CHAP A1 - Iturralde, Kepa A1 - Feucht, Malte A1 - Hu, Rongbo A1 - Pan, Wen A1 - Schlandt, Marcel A1 - Linner, Thomas A1 - Bock, Thomas A1 - Izard, Jean-Baptizste A1 - Eskudero, Ibon A1 - Rodriguez, Mariola A1 - Gorrotxategi, Jose A1 - Astudillo, Julen A1 - Cavalcanti Santos, João. A1 - Gouttefarde, Marc A1 - Fabritius, Marc A1 - Martin, Christoph A1 - Henninge, Tomas A1 - Stein, M. Nornes A1 - Normes, Stein M. A1 - Jacobsen, Yngve A1 - Pracucci, Alessandro A1 - Cañada, Jesus A1 - Jimenez-Vicaria, Jose David A1 - Paulotto, Carlo A1 - Alonso, Rubén A1 - Elia, Lorenzo ED - Tateyama, Kazuyoshi ED - Ishii, Kazuo ED - Inoue, Fumihiro T1 - A Cable Driven Parallel Robot with a Modular End Effector for the Installation of Curtain Wall Modules (Best Paper Award) T2 - 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 N2 - 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. KW - automation KW - Façade KW - On-site KW - Robotics Y1 - 2020 SN - 978-952-94-3634-7 U6 - https://doi.org/10.22260/ISARC2020/0204 SP - 1472 EP - 1479 PB - The International Association for Automation and Robotics in Construction (I.A.A.R.C.) ER - TY - JOUR A1 - Linner, Thomas A1 - Pan, Wen A1 - Hu, Rongbo A1 - Zhao, Charlie A1 - Iturralde, Kepa A1 - Taghavi, Meysam A1 - Trummer, Julian A1 - Schlandt, Marcel A1 - Bock, Thomas T1 - A technology management system for the development of single-task construction robots JF - Construction Innovation N2 - Purpose: Because of the sharply growing interest worldwide of “hard” physical-mechanical robot systems for the execution of on-site construction tasks [i.e. single-task construction robots (STCRs)], the purpose of this study is to equip development projects with a systematic design-management system model that allows to integrate the different needs and aims of stakeholders. Design/methodology/approach: This paper proposes a STCR-technology management system (STCR-TMS) for the complete development cycle of STCR designs. The STCR-TMS is based on established principles from systems engineering and management and STCR-specific activities developed and tested by the authors as standalone elements in previous research work. Findings: The application of the STCR-TMS revealed the practicability of the method and the underlying concepts to provide practical guidance for the development process. Additional findings indicate that the method is sufficiently generic and flexible for application to different types of robots and indifferent world regions. This research has also shown that key activities need to be addressed to increase the practicability of the STCR-TMS. Originality/value:  A unique characteristic of this method is the evolution with each utilization cycle. In addition, individual elements are interchangeable and can be adapted based on external circumstances. These properties allow the TMS to be applied to other fields in construction robotics. With the progression of the verification and validation of the method, know-how and certain elements can be fed into standardization activities (e.g. establishing a management system standard). KW - Construction robotics KW - Construction technology KW - Robotics KW - Systems analysis and design KW - Systems engineering KW - Technology management Y1 - 2019 U6 - https://doi.org/10.1108/CI-06-2019-0053 VL - 20 IS - 1 SP - 96 EP - 111 PB - Emerald ER -