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.
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.
The article deals with the dynamics of wire transmission line while the robot-inspector is moving on it. To ensure proper and safe operation of the machine, mathematical modeling based on the Lagrangian mechanics has been conducted. The wire is considered as a stretched string with additional bending stiffness, and the robot-inspector as moving mass and pendulum. As the result, saw-tooth oscillations have been observed in the vertical plane and they cause parametric oscillations in the perpendicular plane. Advanced method of mathematical modeling of inspection robot motion on conductors allows us to choose the design parameters and the law of motion, in order to prevent accidents and ensure the safety of personnel.
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