Cable-driven parallel robot for curtain wall module installation

Iturralde, Kepa; Feucht, Matthias J.; Illner, D.; Hu, Rongbo; Pan, Wen; Linner, Thomas; Böck, Thomas; Eskudero, I.; Rodríguez, Mariola; Gorrotxategi, Jose; Izard, Jean-Baptizste; Astudillo, Julen; Santos, João Cavalcanti; Gouttefarde, Marc; Fabritius, Marc; Martin, Christoph; Henninge, T.; Normes, S.M.; Jacobsen, Y.; Pracucci, Alessandro; Cañada, Jesús; Jimenez-Vicaria, J.D.; Alonso, R.; Elia, L.

doi:10.1016/j.autcon.2022.104235

Cited by 35 publications

(9 citation statements)

References 21 publications

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“…Im Projekt HEPHAESTUS [43] wurde die komplette Fertigungskette von der Vorfertigung bis hin zur Montage von Elementen auf der Baustelle mittels Robotersystemen betrachtet. Ansätze zum 3D‐Drucken auf der Baustelle erweitern den eigentlichen Materialaufbringungsvorgang um zusätzliche Produktionsfunktionen wie das Einlegen von Bewehrung und den Einbau von Komponenten im Bereich Elektrik, Türen, Fenster etc.…”

Section: Potenziale Der Digitalisierungunclassified

“…duktionslayout, Maschinen etc.). Neueste Ansätze erlauben sogar die detaillierte Simulation von Interaktion zwischen Menschen und Robotern in menschzentrierten, kollaborativen Fertigungsprozessen in der Fabrik oder auf der Baustelle auf Basis von Menschmodellen[42].Im Projekt HEPHAESTUS[43] wurde die komplette Fertigungskette von der Vorfertigung bis hin zur Montage von Elementen auf der Baustelle mittels Robotersystemen betrachtet. Ansätze zum 3D-Drucken auf der Baustelle erweitern den eigentlichen Materialaufbringungsvorgang um zusätzliche Produktionsfunktionen wie das Einlegen von Bewehrung und den Einbau von Komponenten im Bereich Elektrik, Türen, Fenster etc.…”

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Strategien zur Implementierung der Kreislaufwirtschaft beim Bauen mit Beton

Thiel

Strasser

Obergrießer

et al. 2023

Beton und Stahlbetonbau

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Section: Potenziale Der Digitalisierungunclassified

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Strategien zur Implementierung der Kreislaufwirtschaft beim Bauen mit Beton

Thiel

Strasser

Obergrießer

et al. 2023

Beton und Stahlbetonbau

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“…Tho [12] proposed to apply CDPRs to 3D printing concrete and used 3D printing methods to achieve rapid construction of houses. K. Iturralde [13] proposed to apply CDPRs to the installation building curtain and conducted an further study of the working space. Shao [14] proposed to apply CDPRs to the field of building exterior wall cleaning and designed the mechanical structure of the robot.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling and Motion Control Strategy of Cable-Driven Cleaning Robot for Ship Cargo Hold

Han

Chen

et al. 2023

JMSE

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Ship cargo-hold cleaning is a low-efficiency and high-risk operation in marine industry, which is generally carried out manually, putting the workers in danger. To improve the efficiency and safety of ship cargo-hold cleaning, a C-DCR is proposed in this article. Most research on the dynamics and control of CDPRs has focused on the scenarios with fixed bases; however, the effect of moving-base excitation on the end-effector is largely ignored. In this article, the dynamic model is established based on Lagrange method considering the ship motion and external disturbance, in which the motor model is considered. On this basis, for the high-speed maneuverability of the C-DCR, a modified PD feedforward tracking controller was proposed. Furthermore, the stability of the controller was proved with the Lyapunov Stability Theory. To keep the cable in tension at all times, the tensions are optimized based on the minimum 2-norm method. The simulation results show that the error mean of position is 0.22 m and the angular error mean is 2.8° under ship motion and external disturbance, indicating that the C-DCR has stable, smooth and bounded tracking performance, which will ensure the accuracy of the cleaning operation.

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“…Controllability and safety, on the one hand, can be enhanced by employing more cables than the EE degrees of freedom (DoFs in short). However, this can cause cables to collide with each other and their surrounding environment, limiting the robot's workspace or forcing the use of rigorous design techniques to avoid it [7]. In this case, workspace accessibility may be improved by suspending the EE, using a redundant number of cables [8,9].…”

Section: Introductionmentioning

confidence: 99%

“…Only in the nineties the RoboCrane ® was introduced [15]: this equipment was the first to allow both position and orientation of its EE to be automatically controlled with six cables. Since then, numerous applications have been proposed and successfully implemented by researchers: large-scale additive manufacturing [16], laser-based manufacturing [1], contour crafting [17], marine handling systems [18], warehouse retrieval systems [6], large-scale handling systems [19,20], facade cleaning [21] and installation [7] systems, motion simulators [22], large-aperture telescopes [23], measurement devices [24][25][26][27], rehabilitation devices [28], and haptic interfaces [29].…”

Section: Introductionmentioning

confidence: 99%

Cable-Driven Parallel Robot Actuators: State of the Art and Novel Servo-Winch Concept

Idá

Mattioni

2022

Actuators

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Cable-Driven Parallel Robots (CDPRs) use cables arranged in a parallel fashion to manipulate an end-effector (EE). They are functionally similar to several cranes that automatically collaborate in handling a shared payload. Thus, CDPRs share several types of equipment with cranes, such as winches, hoists, and pulleys. On the other hand, since CDPRs rely on model-based automatic controllers for their operations, standard crane equipment may severely limit their performance. In particular, to achieve reasonably accurate feedback control of the EE pose during the process, the length of the cable inside the workspace of the robot should be known. Cable length is usually inferred by measuring winch angular displacement, but this operation is simple and accurate only if the winch transmission ratio is constant. This problem called for the design of novel actuation schemes for CDPRs; in this paper, we analyze the existing architectures of so-called servo-winches (i.e., servo-actuators which employ a rotational motor and have a constant transmission ratio), and we propose a novel servo-winch concept and compare the state-of-the-art architectures with our design in terms of pros and cons, design requirements, and applications.

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Cable-driven parallel robot for curtain wall module installation

Cited by 35 publications

References 21 publications

Strategien zur Implementierung der Kreislaufwirtschaft beim Bauen mit Beton

Strategien zur Implementierung der Kreislaufwirtschaft beim Bauen mit Beton

Dynamic Modeling and Motion Control Strategy of Cable-Driven Cleaning Robot for Ship Cargo Hold

Cable-Driven Parallel Robot Actuators: State of the Art and Novel Servo-Winch Concept

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