Modeling of Motion of Electrical Transmission Line Robot Inspector

Abstract

This paper presents the mechanical behavior of the conductor of the transmission line while the robot inspector is traveling on it. In this article, the conductor is modeled as a stretched string and the robot as a mass-spring system which is moving on the electrical line. To study the operation of the robot inspector, a mathematical model of the system is described by a set of differential equations of motion. The system solved numerically using the Runge–Kutta method. The effect of robot connection stiffness has been investigated as well. The results show that even with a steady movement of the robot on the conductor, sawtooth oscillations appear in the vertical plane. These significant inertial loads acting on the parts of the machine yield to failures or destruction. To avoid unexpected accidents and ensure the safe operation of the robot and for sure the safety of personnel, mathematical modeling of inspection robot motion on conductors is necessary. It is important for choosing the design parameters and the law of motion.