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 the question of whether the CDPR was capable installing CWMs with sufficient accuracy while being competitive compared to conventional manual methods. In order to develop and test such a system, a conceptual framework that consisted of three sub-systems was defined. The tests, carried out in two close-to-real demonstration buildings, revealed an absolute accuracy of the CWM installation of 4 to 23 mm. The working time for installing a CWM was reduced to 0.51 h. The results also show that the system is competitive for a workspace greater than 96 m 2 compared to conventional manual methods. However, improvements such as reducing the hours for setting up the CDPR on the one hand and achieving a faster and more robust MEE on the other hand will be still necessary in the future. • Design, construction and validation of a cable-driven robot for on-site construction. • Successful real environment tests for installing Curtain Wall Modules and brackets. • Bracket placement only presented deviations of approximately 2 mm. • Curtain wall installation was achieved with sufficient accuracy. • The system is competitive in façade workspaces with more than 100 curtain wall modules.