| Title |
Development of a Prototype of Pipe Manipulator Based on Stewart Platform |
| Authors |
Han Jae-Goo ; Kim Kyoon-Tai ; Lee Jun-Bok ; Kim Young-Suk ; Kim Jeoung-Tae |
| Keywords |
automation & robotics ; concrete pipe ; pipe laying ; teleoperated manipulator ; stewart platform |
| Abstract |
Concrete pipe laying works are conducted in most of the construction sites. The pipe laying activity includes excavation and pipe laying tasks. Excavation, in particular trenching, presents a hazardous working environment for humans. Chances are collapse of sidewalls of the trenches, and dropping the pipes during pipe handling and moving, and so on. In addition, the improper pipe connection method causes soil contamination, resulted in environmental problems. Several automated systems for the pipe laying works have been developed in advanced countries to improve safety and productivity. They mainly focused upon easy handling and clamping system for the pipes. The major objectives of this research are to develop a prototype of teleoperated pipe manipulator based on stewart platform for improving safty, productivity and quality, to evaluate technical feasibility and to analyze productivity of the prototype. |