Browsing by Author "Gouttefarde, M."
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Item Above 40g acceleration for pick-and-place with a new 2-dof PKM(2009) Pierrot, F.; Baradat, C.; Nabat, V.; Company, O.; Krut, S.; Gouttefarde, M.; Tecnalia Research & InnovationThis paper introduces a new two-degree-offreedom parallel manipulator producing two translations in the vertical plane. One drawback of existing robots built to realize those dof is their lack of rigidity along the transversal axis, another one being their limited ability to provide very high acceleration. Indeed, these architectures cannot be lightweight and stiff at the same time. The proposed architecture is a spatial mechanism which guarantees a good stiffness along the transversal axis. This parallel architecture is composed by two actuated kinematic chains, and two passive chains built in the transversal plane. The key feature of this robot comes from the passive chains which are coupled for creating a kinematic constraint: the platform stays in one plane. A stiffness analysis shows that the robot can be lighter and stiffer than a classical 2 dof mechanism. A prototype of this robot is presented and preliminary tests show that accelerations above 40 g can beachieved while keeping a low trackingerror.Item A cable driven parallel robot with a modular end effector for the installation of curtain wall modules(International Association on Automation and Robotics in Construction (IAARC), 2020) Iturralde, K.; Feucht, M.; Hu, R.; Pan, W.; Schlandt, M.; Linner, T.; Bock, T.; Izard, J. B.; Eskudero, I.; Rodriguez, M.; Gorrotxategi, J.; Astudillo, J.; Cavalcanti, J.; Gouttefarde, M.; Fabritius, M.; Martin, C.; Henninge, T.; Normes, S. M.; Jacobsen, Y.; Pracucci, A.; Canãda, J.; Jimenez-Vicaria, J. D.; Paulotto, C.; Alonso, R.; Elia, L.; Tecnalia Research & Innovation; DIGITALIZACIÓN Y AUTOMATIZACIÓN DE LA CONSTRUCCIÓN; ROBOTICA_AUTOMAThe 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 facąde 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 sub-systems: 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.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.