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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.
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).