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Cable-driven parallel robot for curtain wall module installation

  • 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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Metadaten
Author:Kepa Iturralde, Malte Feucht, Daniel Illner, Rongbo HuORCiD, Wen Pan, Thomas LinnerORCiDGND, Thomas BockORCiD, Ibon Eskudero, Mariola Rodriguez, Jose Gorrotxategi, Jean-Baptizste Izard, Julen Astudillo, João. Cavalcanti Santos, Marc Gouttefarde, Marc Fabritius, Christoph Martin, Tomas Henninge, Stein M. Normes, Yngve Jacobsen, Alessandro PracucciORCiD, Jesus Cañada, Jose David Jimenez-Vicaria, Rubén Alonso, Lorenzo Elia
DOI:https://doi.org/10.1016/j.autcon.2022.104235
Parent Title (English):Automation in Construction
Publisher:Elsevier
Document Type:Article
Language:English
Year of first Publication:2022
Release Date:2022/04/26
Tag:Accuracy; Cable-robot; Facade; On-site
Volume:138
Issue:June
Article Number:104235
Institutes:Fakultät Bauingenieurwesen
Begutachtungsstatus:peer-reviewed
Publication:Externe Publikationen
research focus:Gebäude und Infrastruktur
Licence (German):Keine Lizenz - Es gilt das deutsche Urheberrecht: § 53 UrhG