Comparison of Automated and Robotic Support Bodies for Building Facade Upgrading

Abstract

The need for ameliorating the physical properties of existing buildings' envelopes is growing. For that purpose, a widely used solution is to add new layers on the external face. Each layer performs a function; insulation, moisture barrier or finishing. Energy harvesting devices can be installed on too. Each of these layers don't need to be assembled on site separately, there are already experiences with the installation of prefab components on the external face of existing façades. Those components can be accurately customized and adjusted to the geometrical irregularities of the existing building wall. Though, the installation of these prefab components is primarily based on manual tools and techniques. A robotic installing performance would facilitate the fixation of these new components on the exterior of the building. This means that the robotic tools must reach every point of the building's façade with enough stability and accuracy. Therefore, a proper support system (also known as robot body) is needed. Those supporting bodies should host different automated tools for installing the component. Before creating a structure or body from scratch, different existing support systems have been analyzed. First, there are the traditional support systems, where the operator works using manual tools. Second, robots and automated mechanisms that work on the exterior of the building have been studied. And third, technology in other fields has been taken into account. After the results of the virtual simulation have been gathered, those are compared with the data of traditional or manual installation methods. Thus, we can see if the solution is competitive enough in terms of cost and time. Besides, it is remarked the adequacy of each body type to work in different building typologies and it is also pointed out the suitability of each support body type for installing different façade components and materials. Finally, as a conclusion, the article defines possible future research.

Matching kit interface for building refurbishment processes with 2D modules

“…According to the recorded data in Test 2, the handling of the 2D module required less effort and time owing to its smaller size. This should be taken into consideration for future robotic manufacturing and installation processes [25], [25][27], [28]. Regarding accuracy, the placement of the modules was realized with tolerances lower than 1 mm.…”

Robotic Application of Foam Concrete onto Bare Wall Elements

“…In order to link the application process to the architectural and constructional working procedures, the robot programming has to be connected to the commonly used software in the field of architecture. Moreover, the concept of using a robotic arm with specific end-effector design has to be extended considering a larger kinematic to allow for material application on the total surface area of a building based on investigations on robotic façade upgrading systems [16]. Therefore, the proposed path planning concept and robotic setup have to be examined for their scalability.…”

Integrated, Automated and Robotic Process for Building Upgrading with Prefabricated Modules

“…Currently, the cranes and scaffolding systems are not suitable to this specific purpose. In previous research [15] [16] there has been a study of different options for a robotic installation of modules. It must be mentioned that experiences such as the Hephaestus project [17] are relevant to carry out the installation process of the 2D modules efficiently.…”

“…There are currently no marketed robots for the full installation of 2D modules. Several options have been envisaged [15], [16], [17]. As a first approach in this research, a stacker crane or Cartesian robot was defined.…”