Mechanics of inspection robot traveling over the electrical line with constant velocity

摘要

Abstract This article aims to the construction of mathematical models for a situation in which the electrical line stretched and supported by two isolators, one horizontal and the other vertical and robot inspector moves with a constant speed on it. The expansion theorem is used to construct the equation of motion of the system and has been solved by two methods: expansion method and Galerkin method. As a result of even constant speed of motion of robot inspector along the electrical line, vibrations have been observed. These vibrations can cause damage to the line or the robot structure as well. Then, the effect of the resistance force, wind force, has been studied. As shown in results, resistance force acts as a damper to the system and causes a decrease in the amplitude of vibrations. The practical results are useful for engineers to select proper parameters and speed for designing and constructing the robot inspectors.