Coupling vibration analysis for inspection robot landing on high voltage transmission line

Xiaodong  Zhang; Haiming Shen; Ahmad Bala  Alhassan; Haibo  Xu

doi:10.59400/sv3788

Coupling vibration analysis for inspection robot landing on high voltage transmission line

Xiaodong Zhang
School of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710049, China

Shaanxi Key Laboratory of Intelligent Robot, Xi’an Jiaotong University, Xi’an 710049, China
Haiming Shen
School of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710049, China

College of Mechanical and Electrical Engineering, Shihezi University, Shihezi 832003, China
Ahmad Bala Alhassan
School of Mechanical Engineering, Chulalongkorn University, Bangkok 10330, Thailand
Haibo Xu
School of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710049, China

Shaanxi Key Laboratory of Intelligent Robot, Xi’an Jiaotong University, Xi’an 710049, China

Article ID: 3788

Keywords: landing gripper, HVTIR landing on the line, rigid-flexible coupled vibrations, HVTIR–line dynamics, multibody modeling

Abstract

When the high-voltage transmission line inspection robot (HVTIR) with a landing gripper lands during flight, the rigid-flexible coupling vibration between the HVTIR and the transmission line severely undermines landing stability. Therefore, investigating the HVTIR-line coupling vibration characteristics during landing is critical for achieving stable landing control. Ignoring wind and airflow disturbances, this study analyzes the input-output characteristics of the HVTIR-line coupled vibration system and the interaction forces between adjacent components, then derives their motion differential equations. The transmission line is decomposed into a model of multiple unit-length Euler beams hinged by stiffness and damping, and a stiffness-damping coupling model for the gripper-line contact force is established. On this basis, a mass-stiffness-damping model of the HVTIR-line system is constructed to obtain its rigid-flexible coupling vibration characteristics. A vibration test system is built using an acceleration sensor wireless acquisition system, and the vibration characteristic curves of the HVTIR gripper and transmission line are obtained and compared with the theoretical simulation results. The results show that the experimental and simulation data share the same trend, with a maximum error of no more than 13.64%; the interquartile range increment between them ranges from 10.67% to 18.26%, verifying the model’s scientific validity. This study optimizes the transmission line modeling method to ensure calculation accuracy and real-time analysis efficiency, and constructs a novel HVTIR-line rigid-flexible coupling model, which provides a theoretical basis for smooth and rapid HVTIR landing control.

Published

2025-10-27

How to Cite

Zhang, X., Shen, H., Alhassan, A. B., & Xu, H. (2025). Coupling vibration analysis for inspection robot landing on high voltage transmission line. Sound & Vibration, 59(5). https://doi.org/10.59400/sv3788

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Issue

Vol. 59 No. 5 (2025)

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Article

This work is licensed under a Creative Commons Attribution 4.0 International License.

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