스튜어트플랫폼 기반 흄관매설용 자동화장비의 프로토타입개발

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.