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Highly automatEd PHysical Achievements and PerformancES using cable roboTs Unique Systems

Deliverables

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.

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.

Publications

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