Experimental and analytical study on the performance of climbing power line robot with dynamic vibration absorber

Abstract

Most existing power transmission line inspection robots (PTLIRs) are designed for conventional operating climates, neglecting the impact of external wind disturbance. To ensure high-quality inspections and minimize economic losses, it is crucial to maintain the stability of PTLIRs under wind disturbance. While previous studies have mainly focused on active vibration suppression and stability improvement through control strategies, this paper presents a passive vibration suppression approach. It utilizes the electrical components within the robot’s cabinet as an absorbing mass. First, the power transmission line environment is described, and a wind disturbance model is developed. Using the Lagrange equation, a dynamic model of the inspection robot with a dynamic vibration absorber (DVA) is established. Then, the DVA’s stiffness, damping, and mass parameters are optimized. Vibration reduction performance is evaluated under both free decay and wind disturbance conditions. Experimental and simulation results confirm that the proposed strategy effectively reduces the robot’s fuselage swing and enhances its operational stability.