RT Journal Article
T1 Cable-driven parallel robot for curtain wall module installation
A1 Iturralde, K.
A1 Feucht, M.
A1 Illner, D.
A1 Hu, R.
A1 Pan, W.
A1 Linner, T.
A1 Bock, T.
A1 Eskudero, I.
A1 Rodriguez, M.
A1 Gorrotxategi, J.
A1 Izard, J.B.
A1 Astudillo, J.
A1 Cavalcanti Santos, J.
A1 Gouttefarde, M.
A1 Fabritius, M.
A1 Martin, C.
A1 Henninge, T.
A1 Nornes, S.M.
A1 Jacobsen, Y.
A1 Pracucci, A.
A1 Cañada, J.
A1 Jimenez-Vicaria, J.D.
A1 Alonso, R.
A1 Elia, L.
A1 Normes, S. M.
AB 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 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.
SN 0926-5805
YR 2022
FD 2022-06
LA eng
NO 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 2022 , ' Cable-driven parallel robot for curtain wall module installation ' , Automation in Construction , vol. 138 , 104235 , pp. 104235 . https://doi.org/10.1016/j.autcon.2022.104235
NO Publisher Copyright: © 2021
DS TECNALIA Publications
RD 3 jul 2024