Design, Modelling and Simulation of Novel Hexapod-Shaped Passive Damping System for Coupling Cable Robot and End Effector in Curtain Wall Module Installation Application
Bibliographic record
Abstract
Design, Modelling and Simulation of Novel Hexapod-Shaped Passive Damping System for Coupling Cable Robot and End Effector in Curtain Wall Module Installation Application Meysam Taghavi, Taku Kinoshita and Thomas Bock Pages 665-671 (2019 Proceedings of the 36th ISARC, Banff, Canada, ISBN 978-952-69524-0-6, ISSN 2413-5844) Abstract: The application of robotics in the construction industry has been growing recently. However, it suffers from the lack of construction dedicated systems. The industry is characterised largely by designers and researchers scrambling to adapt systems from other industries and trying to apply them to the construction industry. In the application of Curtain Wall Module (CWM) installations, 'HEPHAESTUS' is a European founded project that is engaged in designing a Cable Driven Parallel Robot (CDPR) automatic system capable of 1 mm positioning accuracy. It can perform other tasks such as drilling on the building by using a dedicated Modular End Effector (MEE). Conventional CWM installation from the outside of the building can be done in the case of 15 m/s wind but, to be competitive, the automatic cable robot system should be able to perform the task in similar outdoor situations. However, the cable robot like other mechanical systems has a specific stiffness which means that it could move slightly in the event of an external load such as wind, depending on the exerted load and stiffness. This movement should not be transferred to the final tool (e.g. the driller) while its performing tasks on the building. To prevent or minimise the effect of the external load on the final tool in the chain of the mechanically connected system, a damping system should therefore exist. This paper introduces the novel hexapod-shaped passive damper. The damping system will be mathematically modelled and simulated using the Matlab Simscape software. The simulation results give logical consequences on the design. The designed damper and model can be used in other applications or dimensions with some simple modifications. Keywords: Construction robotics; Design; Modelling; Simulation; Passive damper; Hexapod; Cable robot; Façade installation DOI: https://doi.org/10.22260/ISARC2019/0089 Download fulltext Download BibTex Download Endnote (RIS) TeX Import to Mendeley
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.001 | 0.000 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.002 | 0.000 |
| Insufficient payload (model declined to judge) | 0.007 | 0.001 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".