TY - JOUR A1 - Iturralde, Kepa A1 - Feucht, Malte A1 - Illner, Daniel A1 - Hu, Rongbo A1 - Pan, Wen A1 - Linner, Thomas A1 - Bock, Thomas A1 - Eskudero, Ibon A1 - Rodriguez, Mariola A1 - Gorrotxategi, Jose A1 - Izard, Jean-Baptizste A1 - Astudillo, Julen A1 - Cavalcanti Santos, João. A1 - Gouttefarde, Marc A1 - Fabritius, Marc A1 - Martin, Christoph A1 - Henninge, Tomas A1 - Normes, Stein M. A1 - Jacobsen, Yngve A1 - Pracucci, Alessandro A1 - Cañada, Jesus A1 - Jimenez-Vicaria, Jose David A1 - Alonso, Rubén A1 - Elia, Lorenzo T1 - Cable-driven parallel robot for curtain wall module installation JF - Automation in Construction 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. KW - Accuracy KW - Cable-robot KW - Facade KW - On-site Y1 - 2022 U6 - https://doi.org/10.1016/j.autcon.2022.104235 VL - 138 IS - June PB - Elsevier ER -