A Development of Stewart Platform Based Pipe Manipulator

Abstract

The concrete pipe laying works are conducted in most of the construction sites. Several automated systems for the pipe laying works have been developed in advanced countries to improve productivity, safety, and quality, and to gain potential savings in costs. They mainly focused upon easy handling and clamping system for the pipes. The major objective of this research is to develop the stewart platform based teleoperated pipe manipulator prototype and to evaluate technical feasibility and productivity analysis of the system.

A performance evaluation of a Stewart platform based Hume concrete pipe manipulator

“…2 illustrates the overall system configuration. More detailed information of the automation needs analysis including a costconcern matrix, the system architecture of the machine, and its control mechanism has been presented elsewhere [4][5][6].…”

Control schemes for tele‐robotic pipe installation

“…This firstgeneration pipe manipulator (PipeMan) was subsequently improved by adding a laser and video system in order for an operator to control the entire device remotely [9]. A Korean group of researchers developed independently a pipe manipulator that employed a grabbing mechanism mounted on a flexible Stewart-Gough platform attached to the excavator arm [10]. Changes for the third-generation PipeMan were necessary to address the need to improve the mechanisms to hold and align the pipe in order to improve the speed of placement.…”