Development and preliminary Evaluation of a concept for a Modular End-Effector for automated/robotic Facade Panel Installation in Building Renovation

This paper focuses on the Actuators and End effectors used in a robotized and automated process for the installation of customized façade components. It has to be said that those Actuators and End Effectors must be designed co-coordinated with the rest of the issues that determine the upgrading of the building. Depending on the strategy for fixing the component, the end-effectors will be arranged in a way or in another. The component installation process consists of two main steps. First, a separate connector is fixed on the façade using a specific End Effectors. This connector enables a fast clip or fastening of the component. Once the accurate coordinates of the connectors are measured, the component is manufactured with precision offside. After that, using another specific End Effector, the component is uploaded to its place and fastened. This paper proposes a Modular End-Effector (MEE)that hosts different End Effectors and Actuators.In order to evaluate the performance of the proposed MEE, a virtual simulation in SolidEdge© has been carried out. The results of the performance have been analyzed and compared with the traditional manual methods.     «

This paper focuses on the Actuators and End effectors used in a robotized and automated process for the installation of customized façade components. It has to be said that those Actuators and End Effectors must be designed co-coordinated with the rest of the issues that determine the upgrading of the building. Depending on the strategy for fixing the component, the end-effectors will be arranged in a way or in another. The component installation process consists of two main steps. First, a sepa...     »