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.

Corridor navigation robot using Bond graph

“…The aim of this section is to give a general view of bond graphs. Bond graphs that provide a systematic way of describing physical systems and their corresponding dynamics are introduced by Karnopp [1], and extensions appear in [10][11][12][13][14][15][16][17][18][19].…”

Research on mechanism configuration and dynamic characteristics for multi-split transmission line mobile robot

“…Therefore, the dynamic model of the robot is the basis for the design of its controller, joint mechanical structure, electrical control parameters and the accuracy of the dynamic model directly affects the robot control performance and the mechanical characteristics of the manipulator. At present, the commonly used dynamic modeling methods are the Lagrange equation (Wang et al , 2015), Hamilton principle (Xu et al , 2014), Newton-Euler equation (Bahrami, 2020; Chen et al , 2020), etc. However, most of the model is a whole model and the dynamic models have high computational complexity and high-order nonlinear characteristics (Alhassan et al , 2020; Bahrami, 2020).…”

“…At present, the commonly used dynamic modeling methods are the Lagrange equation (Wang et al , 2015), Hamilton principle (Xu et al , 2014), Newton-Euler equation (Bahrami, 2020; Chen et al , 2020), etc. However, most of the model is a whole model and the dynamic models have high computational complexity and high-order nonlinear characteristics (Alhassan et al , 2020; Bahrami, 2020). These bring some difficulties to the design of the robot manipulator and the selection of joint electrical parameters which seriously restrict the development and practical progress of the transmission line mobile robot physical prototype development.…”