Browsing by Author "Gorrotxategi, J."
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Item Cable-driven parallel robot for curtain wall module installation(2022-06) Iturralde, K.; Feucht, M.; Illner, D.; Hu, R.; Pan, W.; Linner, T.; Bock, T.; Eskudero, I.; Rodriguez, M.; Gorrotxategi, J.; Izard, J.B.; Astudillo, J.; Cavalcanti Santos, J.; Gouttefarde, M.; Fabritius, M.; Martin, C.; Henninge, T.; Nornes, S.M.; Jacobsen, Y.; Pracucci, A.; Cañada, J.; Jimenez-Vicaria, J.D.; Alonso, R.; Elia, L.; Normes, S. M.; DIGITALIZACIÓN Y AUTOMATIZACIÓN DE LA CONSTRUCCIÓN; ROBOTICA_AUTOMA; Tecnalia Research & InnovationA 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.Item Design and integration of WAAM technology and in situ monitoring system in a gantry machine(2017) Artaza, T.; Alberdi, A.; Murua, M.; Gorrotxategi, J.; Frías, J.; Puertas, G.; Melchor, M.A.; Mugica, D.; Suárez, A.; FABRIC_INTEL; FACTORY; ROBOTICA_AUTOMA; Tecnalia Research & Innovation; VISUALWire arc additive manufacturing, WAAM, is a popular wire-feed additive manufacturing technology that creates components through the deposition of material layer-by-layer. WAAM has become a promising alternative to conventional machining due to its high deposition rate, environmental friendliness and cost-competitiveness. In this research work, an adaptation of a gantry machine with in-situ monitoring and a control system has been carried out, in order to expose the ability of the WAAM technology to fabricate complex-shaped parts. The retrofitting of the machine has been done in several layers called respectively hardware, control and software layers. For the validation of the implemented system, a stainless steel 316L demonstrator has been manufactured, and the required stages have been employed, including part design (CAD), process parameters selection, tool-path definition (CAM) and part manufacturing. This study has shown the feasibility of the adapted machine for additive manufacturing as a controlled process.