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.
Highlights
Power companies around the world utilize different method for inspection of electrical transmission lines to ensure consistency of energy supply to end users
The main idea of this paper is to create a mathematical model to investigate the motion of the robot inspector along the conductor of electrical line transmission line when the tension in conductor is not constant
Mathematical modeling of the motion of the robot inspector on the electrical line is a great tool to study the stability during the operation of inspection robot on the electrical line
Summary
Power companies around the world utilize different method for inspection of electrical transmission lines to ensure consistency of energy supply to end users. Because of the variety of overhead power lines, different type of robot inspectors were designed and constructed [3,4,5,6,7,8,9]. Study of motion of robot inspector along the conductor and creating a mathematical model is required. The main idea of this paper is to create a mathematical model to investigate the motion of the robot inspector along the conductor of electrical line transmission line when the tension in conductor is not constant. Mathematical modeling of the motion of the robot inspector on the electrical line is a great tool to study the stability during the operation of inspection robot on the electrical line. MECHANICS OF ROBOT INSPECTOR ON ELECTRICAL TRANSMISSION LINES CONDUCTORS WITH UNEQUAL HEIGHTS SUPPORTS.
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