Dynamic vibration absorber in robot for inspection of electrical transmission lines

Abstract

The aim of this paper is to study the use of a dynamic vibration absorber in a robot for inspection of electrical transmission lines. To achieve this, in this paper, a mathematical model used to study the motion of a robot for inspection of electrical transmission lines. In this model, the electrical line, which is located on a different level of elevations, is considered as a thread. The robot considered a moving load on the line. First, the configuration and tension in the thread have been calculated. Then the equation of motion is written using the Lagrange method. As a result, vibrations in the horizontal plane of the motion appears. These vibrations might serve as a source of parametric oscillations' appearance in the perpendicular plane of motion. To avoid dangerous oscillation in the vertical plane of motion and achieve dynamical stability during the operation of the robot on the electrical line, dynamic vibration absorber has been used and its performance evaluated.