Cable-Driven Parallel Robot for Curtain Wall Modules Automatic Installation

Abstract

Recently, the accurate prefabricated Curtain Wall Modules (CWM) used as building facade are gaining popularity around the world. However, the conventional manual procedure for installation of CWM is dangerous for labour work. More so, it is a time consuming and expensive task. Automation of the CWM installation using a cable robot is an alternatively faster and safer method. The cost saved due to shorter installation time would compensate for initial investment costs of the robotic systems. However, for CWM installation, the cable robot and its modular end-effector (MEE) need to perform several tasks such as positioning within 1 mm accuracy, drilling, installing bracket (connectors), and handling and positioning the CWMs. However, there is no such robotic solution currently available on the market. As a probable solution to CWM installations, the European project "HEPHAESTUS" is designing a cable robot-based automatic system capable of 1 mm positioning accuracy, while performing other tasks such as drilling on the building. Meanwhile, it could carry nearly a tonne in payload in an outdoor environment. As a design phase in this paper, five different conceptual scenarios for such complicated automatic installation process conducted by a cable robot are introduced. The possible concepts are assessed using the Delphi method. Finally, the accuracy, safety, and installation time of the selected scenarios are comparable to the conventional manual procedure of CWM installation. In the future, these systems further improve within the HEPHAESTUS project framework.

A Practical Approach for the Hybrid Joint-Space Control of Overconstrained Cable-Driven Parallel Robots

“…In this section, the constant-orientation wrench-feasible WS of an 8-cable OCDPR prototype at LIRMM is characterized with respect to its force-distribution sensitivity to cable-tension error. The prototype, known as HRPCable, was used as an experimental set-up during the EU project Hephaestus [16]. It can be installed in a suspended or overconstrained configuration.…”

A technology management system for the development of single-task construction robots

“…All planned operations were represented in operation sequence diagrams. In Hephaestus, five different conceptual scenarios for the complex automatic installation process of façade elements by a cable-driven robot were introduced early on (Taghavi et al , 2018a).…”

A Simple Framework for the Cost–Benefit Analysis of Single-Task Construction Robots Based on a Case Study of a Cable-Driven Facade Installation Robot

“…Due to the scope of this research, only the unitized prefabricated module system is considered. The standard CWM installation consists of four main steps, which are (1) bracket installation, (2) lifting the CWM, (3) CWM installation with position adjustment, and (4) CWM unit fixation (see Figure 3) [15].…”

“…In the third step, while the crane holds the weight of the CWM, workers on the working floor minutely adjust the position of the CWM to ensure its installation to the brackets. Finally, after the position of the CWM is correctly confirmed, workers on the working floor fix the unit and the next CWM installation starts (see Figure 4) [15].…”

“…adjust the position of the CWM to ensure its installation to the brackets. Finally, after the position of the CWM is correctly confirmed, workers on the working floor fix the unit and the next CWM installation starts (see Figure 4) [15]. Therefore, in the conventional CWM installation process, all the four steps are done manually by workers with the help of certain machines.…”