Abstract
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.
Highlights
Nowadays electrical transmission lines play significant roles in human life
Inspection and maintenance of electrical transmission lines are necessary in order to prevent further damages in the mentioned areas
Inspection of electrical transmission lines performed by human forces would be faced with danger, but by improvement of technology, robots have been used as reliable machines instead of human forces in potentially dangerous environments such as hot-lines
Summary
Nowadays electrical transmission lines play significant roles in human life. The electricity power transmits through transmission lines from the power plants to the cities and industrial centers. Inspection and maintenance of electrical transmission lines are necessary in order to prevent further damages in the mentioned areas. Inspection of electrical transmission lines performed by human forces would be faced with danger, but by improvement of technology, robots have been used as reliable machines instead of human forces in potentially dangerous environments such as hot-lines. The mission is to reduce or eliminate human exposure to potentially dangerous environments while inspecting the electrical transmission lines in order to decrease the cost of repair. Mathematical modeling of motion of ADM on the conductor is necessary at the design stage in order to select the appropriate options for reducing the cost of the experiment and to protect personnel. The technique involves finding the dynamics equations of ADM on conductors and solves them by means of computer mathematical software. The equations are derived based on mechanics of Lagrange for solid and deformable bodies [15,16], and by means of computational tools, Mathcad [17]
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