Mechanical challenges of electrical transmission lines inspection robot

摘要

Abstract In this article, the dynamics of electrical transmission lines inspection robot while moving on the line has been investigated and mathematical modeling issues of its movement along the conductors have been considered. In order to achieve dynamical stability during the movement of inspection robot on the electrical line variation methods for problems of stretched string has been considered and solved. However, line inspection robot operation might be subject to failures because of conductor vibration. In this article, the robot-inspector considered as moving load and pendulum. As a result of even steady motion of inspection robot on the line, saw-tooth oscillations have been observed in the vertical plane that causes parametric oscillations in the perpendicular plane. In order to avoid dangerous oscillation, dynamic vibration absorber has been designed. The behavior of electrical line inspection robot motion through transmission lines has been studied.