Mechanics of robot inspector on electrical transmission lines conductors: performance analysis of dynamic vibration absorber

摘要

The aim of this paper is to create a mathematical model of the movement of electrical transmission lines inspection robot while moving on the line. In this model, the electrical line is considered as a stretched string while the robot considered as a moving load on the line. The obtained equation of motion has been solved by using the Lagrange equation. Even the motion of the inspection robot on the line is steady, but dangerous vibrations in the vertical plane of the motion have been observed. These types of oscillation may cause parametric oscillations in the perpendicular plane since the robot-inspector considered as moving load and pendulum. To achieve dynamical stability during the movement of inspection robot on the electrical line and avoid dangerous oscillation, dynamic vibration absorber has been designed. Then the performance of dynamic vibration absorber has been investigated.