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Highly automatEd PHysical Achievements and PerformancES using cable roboTs Unique Systems

Deliverables

Report on laboratory tests

Report of the tests, evaluation and adjustment of the cable robot system in a controlled laboratory environment. The following systems will be tested and evaluated: movement of the robot, anchoring system, scanning system, drilling and positioning of the anchorages, handling of a curtain wall module and placing it in a specific place of the structure.

Analysis and evaluation

Report of the analysis and evaluation of existing devices for being integrated on the Cable Robot for vertical works like winches, pulleys, end-effectors comprising controllers and drives, sensors (for motion, for quality inspection, for preventing collisions), actuators, (automated) tools for scanning slabs, tools for drilling slabs automatically, for handling curtain wall anchorage, for screwing curtain wall anchorage to the slabs and for handling and assembling curtain wall modules.

Identification of requirements

Report of the identification of the requirements for the Cable Robot system for vertical works in the Construction sector, in particular, for the installation of curtains walls. Definition of the regulations for elevation and transport; definition of safety regulations for works in exterior of buildings. Definition of the tolerances required for the different steps in the assembly of facades.

Report on communication and dissemination activities

Summary report on communication and dissemination activities provided at M12, M24 and M42; revised periodically.

Public communication material: website, brochure, newsletter, templates

Periodic updates of the project baseline communication materials; revised periodically.

Report on validation of the cable robot in a real construction environment

Report of the final demonstration and validation of the system in final demonstration building structure built during the project. Validation of the cable robot system in terms of time required to complete the operations, accuracy, efficiency, safety and usability for workers of the construction sector.

Methodology for the use of cable robots in construction and built environment

Report of the methodology and protocol definition for the use of cable robots in construction and built environment. The experience gained in the previous phases will be the base to define a guideline for using cable robots for performing automated installation of prefabricated panels onto building structures.

Risk assessment and definition of safety requirements

Report of the risk assessment analysis and definition of the safety requirements associated to the application of the robot in a construction environment that integrated a multi-functional end-effector specifically for working at height with heavy construction products.

Prototype of the final demonstrator building structure

Prototype of the final demonstrator building structure built according to the specifications and designs performed in WP2 including the description of the accesses and the description of the work site.

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Publications

Dynamic analysis of high precision construction cable-driven parallel robots

Author(s): V. Ferravante, E. Riva, M. Taghavi, F. Braghin, T. Bock
Published in: Mechanism and Machine Theory, Issue 135, 2019, Page(s) 54-64, ISSN 0094-114X
DOI: 10.1016/j.mechmachtheory.2019.01.023

Smallest Maximum Cable Tension Determination for Cable-Driven Parallel Robots

Author(s): Hussein Hussein, Joao Cavalcanti Santos, Jean-Baptiste Izard, Marc Gouttefarde
Published in: IEEE Transactions on Robotics, 2021, Page(s) 1-20, ISSN 1552-3098
DOI: 10.1109/tro.2020.3043684

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

Author(s): Thomas Linner, Wen Pan, Rongbo Hu, Charlie Zhao, Kepa Iturralde, Meysam Taghavi, Julian Trummer, Marcel Schlandt, Thomas Bock
Published in: Construction Innovation, Issue 20/1, 2020, Page(s) 96-111, ISSN 1471-4175
DOI: 10.1108/ci-06-2019-0053

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

Author(s): Rongbo Hu, Kepa Iturralde, Thomas Linner, Charlie Zhao, Wen Pan, Alessandro Pracucci, Thomas Bock
Published in: Buildings, Issue 11/1, 2021, Page(s) 8, ISSN 2075-5309
DOI: 10.3390/buildings11010008

Development of a Modular End Effector for the installation of Curtain Walls with cable-robots

Author(s): Taghavi, Meysam;Heredia, Homero;Iturralde, Kepa;Halvorsen, Håvard;Bock, Thomas
Published in: Journal of Facade Design and Engineering, Vol 6 No 2: ICAE2018 Special Issue (presented in ICAE 2018), Issue Volume 6, Number 2, 2018, Page(s) 001-008, ISSN 2213-3038
DOI: 10.7480/jfde.2018.2.2067

Static Modeling of Sagging Cables with Flexural Rigidity and Shear Forces

Author(s): Hussein Hussein, Marc Gouttefarde, François Pierrot
Published in: Advances in Robot Kinematics 2018, Issue 8, 2019, Page(s) 310-318
DOI: 10.1007/978-3-319-93188-3_36

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

Author(s): Hussein Hussein, Joao Cavalcanti Santos, Marc Gouttefarde
Published in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Issue every year, 2018, Page(s) 5117-5124
DOI: 10.1109/iros.2018.8593900

Cable-Driven Parallel Robot for Curtain Wall Modules Automatic Installation

Author(s): Meysam Taghavi, Kepa Iturralde, Thomas Bock
Published in: Proceedings of the 35th International Symposium on Automation and Robotics in Construction (ISARC), Issue Number 35, every year, 2018, Page(s) 396-403
DOI: 10.22260/isarc2018/0056

A Cable Driven Parallel Robot with a Modular End Effector for the Installation of Curtain Wall Modules

Author(s): Kepa Iturralde, Malte Feucht, Rongbo Hu, Wen Pan, Marcel Schlandt, Thomas Linner, Thomas Bock, Jean-Baptiste Izard, Ibon Eskudero, Mariola Rodriguez, Jose Gorrotxategi, Julen Astudillo, Joao Cavalcanti, Marc Gouttefarde, Marc Fabritius, Christoph Martin, Tomas Henninge, Stein Normes, Yngve Jacobsen, A. Pracucci, Jesús Cañada, José David Jimenez-Vicaria, Carlo Paulotto, Rubén Alonso, Lorenzo El
Published in: Proceedings of the 37th International Symposium on Automation and Robotics in Construction (ISARC), 2020
DOI: 10.22260/isarc2020/0204

Redundancy Resolution Integrated Model Predictive Control of CDPRs: Concept, Implementation and Experiments

Author(s): Joao C. Santos, Ahmed Chemori, Marc Gouttefarde
Published in: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Page(s) 3889-3895
DOI: 10.1109/icra40945.2020.9197271

ロボットアームによるファサード組立時の誤差補正 Deviation Correction for Robotic Arm during Assembly

Author(s): Kinoshita, T.,Iturralde, K., Taghavi, M., Pan, W., Bock, T.
Published in: 2019