Coupling vibration analysis for aerial inspection robot landing on transmission line under wind disturbance

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

doi:10.59400/sv4198

Coupling vibration analysis for aerial inspection robot landing on transmission line under wind disturbance

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: 4198

Keywords: landing gripper; wind disturbance model; HVTIR-line coupled vibrations; exponential nonlinear contact-force model; contact-force strategy

Abstract

When the high-voltage transmission line inspection robot (HVTIR) lands amid wind disturbances, line vibrations significantly affect system stability. Therefore, this paper proposes a contact-force control strategy for HVTIR landing based on varying wind speed conditions: a nonlinear contact-force model is preferred for vibration reduction under low wind speeds, while a linear contact-force model enhances stability under medium and high wind speeds. Using a composite wind field model, the vibration bending beam model of the transmission line and the mass-stiffness-damping coupling model of the robot under wind disturbance were developed. An experimental verification system was established using wireless acceleration sensors. Results showed that under a typical low wind speed of 2 m/s, the exponential nonlinear contact-force strategy controlled vibration at 0.64 m/s², which was 90.1% more effective than direct loading. At a typical medium-high wind speed of 6 m/s, the experimental peak value using the linear contact-force strategy was reduced by 5.7% compared to the ideal peak value; the experimental RMS was reduced by 0.36%, and the linear contact-force strategy significantly reduced coupling vibrations. These experimental results demonstrate the reliability and applicability of the proposed control strategy, providing theoretical and technical support for the stable and rapid landing of the inspection robot.

Published

2026-04-15

How to Cite

Zhang, X., Shen, H., Alhassan, A. B., & Xu, H. (2026). Coupling vibration analysis for aerial inspection robot landing on transmission line under wind disturbance. Sound & Vibration, 60(2). https://doi.org/10.59400/sv4198

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Vol. 60 No. 2 (2026): in progress

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Article

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

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