A Cable Driven Parallel Robot with a Modular End Effector for the Installation of Curtain Wall Modules
Résumé
The installation of curtain wall modules (CWM) is a risky activity carried out in heights and often under unfavorable weather conditions. CWM are heavy prefabricated walls that are lifted normally with cinches and cranes. High stability is needed while positioning in order not to damage the fragile CWM. Moreover, this activity requires high precision while positioning brackets and the modules, and for that reason, intensive survey and marking is necessary. In order to avoid such inconveniences, there have been experiences for the installation of façade modules in an automatic mode by using robotic devices. Within the HEPHAESTUS research project, a novel system has been developed in order to install CWMs automatically. The system consists of two subsystems: a cable driven 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 for installing the curtain wall modules. There are two main tasks that the CDPR and the MEE need to achieve. First the fixation of the brackets onto the concrete slab. Second, 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 while positioning the CDPR platform. In future steps, this deviations will be compensated by the tools of the MEE and the installation of the CWM will be carried out with the required accuracy and automatically.
Domaines
Informatique [cs]
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