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

Recently, a tele-operated Stewart platform based Hume concrete pipe manipulator (HCPM) was developed to improve the safety, quality, and productivity of conventional Hume concrete pipe laying work. The primary objectives of this study are to develop a model for performance evaluation of the HCPM, and to then utilize the model to analyze the HCPMʹs overall work performance. Conclusions and recommendations are made concerning the value of implementing and commercializing the HCPM. Finally, it is anticipated that the performance evaluation model and the methodology presented in this study could be effectively used in analyzing the performance of other automated construction machines.