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Cable-Driven Parallel Robot (CDPR) for Panelized Envelope Retrofits: Feasible Workspace Analysis

by Yifang Liu, Rui Zhang, Nolan W Hayes, Diana E Hun, Bryan P Maldonado Puente
Publication Type
Conference Paper
Book Title
2024 Proceedings of the 41st ISARC
Publication Date
Page Numbers
1081 to 1088
Publisher Location
United States of America
Conference Name
International Symposium on Automation and Robotics in Construction (ISARC)
Conference Location
Lille, France
Conference Sponsor
The International Association for Automation and Robotics in Construction
Conference Date
-

Recent decades have seen remarkable progress in the field of robotic-assisted construction. Cable-driven parallel robots (CDPRs) emerge as promising tools for automating construction processes, due to their advantageous features such as scalability, reconfigurability, compact design, and high payload-to-weight ratio. This paper uses a simple static model to determine the feasibility of a CDPR for overclad panel installation in building envelope retrofits. Given that the building facade needs to be a subset of the CDPR’s wrench-feasible workspace, we focus on the sensitivity of the workspace concerning various cable arrangements and CDPR frame sizes (e.g., height and width extensions). Our analysis indicates that no cable arrangement satisfies the requirement of complete facade coverage and avoids cable-to-panel collisions. Thus, frame extension is needed to enhance coverage. However, in densely populated areas where width extension is limited by space constraints, height extension alone is insufficient to guarantee full facade coverage. This paper pioneers the investigation of CDPRs for panelized envelope retrofits, showcasing their advantages and limitations and paving the way for further research and development.