Mechanics of robot inspector on electrical transmission lines conductors with unequal heights supports

Abstract

The aim of this paper is to create a mathematical model of the motion of robot inspector on electrical transmission lines conductors when the towers are not in one level i.e. when the tension through the conductor is not constant. In this model, we consider the electrical line as a thread with two supports at the ends with different elevations and the robot considered as a moving object on the thread. The obtained equation of motion has been solved by using the separating variables method. As the result, dangerous oscillations have been seen although the motion of the inspection robot on the line is steady. These vibrations may cause parametric vibration in the perpendicular plane of motion and can cause inertial load on the construction of the robot. To study this affect we consider the robot as a pendulum with movable suspension base. This article shows the possibility of a kind of parametric resonance.