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.2022-06Iturralde , 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.2022.1042350926-5805researchoutputwizard: 11556/1385Publisher Copyright: © 2021A 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.114034087enginfo:eu-repo/semantics/openAccessjournal article10.1016/j.autcon.2022.104235Cable-robotOn-siteFacadeAccuracyTimeCable-robotOn-siteFacadeAccuracyTimeControl and Systems EngineeringCivil and Structural EngineeringBuilding and ConstructionProject IDinfo:eu-repo/grantAgreement/EC/H2020/732513/EU/Highly automatEd PHysical Achievements and PerformancES using cable roboTs Unique Systems/HEPHAESTUSinfo:eu-repo/grantAgreement/EC/H2020/732513/EU/Highly automatEd PHysical Achievements and PerformancES using cable roboTs Unique Systems/HEPHAESTUSFunding InfoThis project has received funding from the European Union’s Horizon 2020 research and innovation program under grant_x000D_ agreement No. 732513This project has received funding from the European Union’s Horizon 2020 research and innovation program under grant_x000D_ agreement No. 732513http://www.scopus.com/inward/record.url?scp=85128416187&partnerID=8YFLogxK