Integration of a Parallel Cable-Driven Robot on an Existing Building Façade

Abstract

In order to use a cable-driven parallel robot to inspect an existing surface, a straightforward solution consists in fixing the robot components on this surface. In most cases, however, there are conditions that limit these fixations, for example structural reasons since the frame of the surface has probably not been specifically calculated to withstand the forces generated by the parallel cable-driven robot. In the particular case of inspection of the façade of a building, civil engineering specifications apply, which may drastically reduce the engineering possibilities from the point of view of the parallel cable-driven robot designers. This paper introduces a detailed example of implementation of a parallel cable-driven robot on the Media-TIC building located in Barcelona in Spain. In this highly technological building, the main façade parallel cable-driven robot in intended to work as a sensor for monitoring the environment, but also as an interface between the building and its occupiers. The various constraints-due to normative, structural and aesthetic reasons-that were tackled are described in the paper, along with the elected detailed design of the robot that complies with these constraints.

Cable-Based Robotic Crane (CBRC): Design and Implementation of Overhead Traveling Cranes Based on Variable Radius Drums

“…For these reasons, during recent years cable-driven systems have received attention and different kind or cable robots have been investigated. Applications of cable robots span from heavy load and large scale manipulation [2] [3] [4] [5], building tasks [6] [7], to rescue operations [8] and upper limbs rehabilitation [9] [10]. Cables have also been employed in surgical robots to reduce surgeon fatigue and facilitate supervised tele-surgery [11] [12] [13] [14].…”

Geometric Optimization of a Large Scale CDPR Operating on a Building Facade

“…It is worth noting that the CDPR geometry obtained in this paper (Fig. 6) possesses smaller lowest maximum cable tensions than CDPR geometries similar to the ones used in existing fully-constrained 8-cable CDPRs such as IPAnema [7], CaBLAR [9], Media-TIC [32] and CableEndy, as illustrated in Fig. 7.…”

A Survey of Cable-Suspended Parallel Robots and their Applications in Architecture and Construction

“…The initial investigation of the academic literature and projects completed in the area of robotic fabrication indicates that four key aspects can be used to describe and critique any fabrication robotic system: (1) robot kinematics, (2) tools and end effectors, (3) workspace volume and limits and (4) positioning and motion programming methodologies (Sousa et al 2016;Izard et al 2013;Reinhardt et al, 2016;McGee, 2014). However, as there is no clear classification of these four categories in the literature, the operation of robotic fabrication won't be straightforward for all users in beginning steps and development phases of projects.…”