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Journal Articles Automation in Construction Year : 2022

Cable-driven parallel robot for curtain wall module installation

Ibon Eskudero
Julen Astudillo
Tomas Henninge
  • Function : Author
Stein M. Nornes
  • Function : Author
Yngve Jakobsen
  • Function : Author
Alessandro Pracucci
Jose David Jimenez-Vicaria
Rubén Alonso
  • Function : Author
Lorenzo Elia
  • Function : Author

Abstract

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 subsystems 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 m 2 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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Dates and versions

lirmm-03795182 , version 1 (03-10-2022)

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Kepa Iturralde, Malte Feucht, Daniel Illner, Rongbo Hu, Wen Pan, et al.. Cable-driven parallel robot for curtain wall module installation. Automation in Construction, 2022, 138, pp.104235. ⟨10.1016/j.autcon.2022.104235⟩. ⟨lirmm-03795182⟩
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