Cable-driven parallel robot for curtain wall module installation

A cable-driven parallel robot (CDPR) was developed for the installation of curtain wall modules (CWM). The research addressed question whether CDPR capable installing CWMs with sufficient accuracy while being competitive compared to conventional manual methods. In order develop and test such a system, conceptual framework that consisted three sub-systems defined. tests, carried out in two close-to-real demonstration buildings, revealed an absolute CWM 4 23 mm. working time reduced 0.51 h. results also show system is workspace greater than 96 m2 However, improvements as reducing hours setting up on one hand achieving faster more robust MEE other will be still necessary future.