This study outlines a multi-disciplinary and collaborative program in researching automated pipe construction. The prime research objective is the development of an automated pipe construction system involving a single operator and integrating the pipe bending, fabrication, erection, and connecting activities. Phase I activities address both system-wide issues and pipe manipulator prototype development and testing. Phase I system-wide research will be focused on component integration, database management, constructability for automation, and sysem economics. Manipulator development activities will address kinematic studies, instrumentation/controls, CAD integration, and the man-machine interface.
