스튜어트플랫폼 기반 흄관매설용 자동화장비의 프로토타입개발Development of a Prototype of Pipe Manipulator Based on Stewart Platform
- Other Titles
- Development of a Prototype of Pipe Manipulator Based on Stewart Platform
- Authors
- 한재구; 김영석; 김균태; 김정태; 이준복
- Issue Date
- 2004
- Publisher
- 대한건축학회
- Keywords
- automation & robotics; concrete pipe; pipe laying; teleoperated manipulator; stewart platform; automation & robotics; concrete pipe; pipe laying; teleoperated manipulator; stewart platform; 자동화 및 로봇화; 흄관; 관매설; 원격조종장비; 스튜어트플랫폼
- Citation
- 대한건축학회논문집 구조계, v.20, no.9, pp.167 - 176
- Journal Title
- 대한건축학회논문집 구조계
- Volume
- 20
- Number
- 9
- Start Page
- 167
- End Page
- 176
- URI
- https://scholarworks.bwise.kr/hongik/handle/2020.sw.hongik/26244
- ISSN
- 1226-9107
- 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.
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