Abstract: To enhance the safety of hybrid inspection robots (HIRs) landing on power transmission lines (PTLs) with inclination and flexibility, this research derives a coupled dynamic model for a developed flying–walking power transmission line inspection robot (FPTLIR) to analyze the dynamic behavior of the FPTLIR during the landing process. The model uses the absolute nodal coordinate formulation (ANCF) for the dynamics of the PTL and the Hunt–Crossley theory for the contact model, integrating these components with the Euler–Lagrange method. A modular simulation was conducted to evaluate the effects of different landing positions and robot masses. An experimental platform was designed to evaluate the landing performance and validate the model, which confirms the method’s accuracy, with a mean relative Z-displacement error of 0.004. Simulation results indicate that Z-displacement decreases with increased landing distance, with the farthest point showing only 34.4% of the Z-displacement observed at the closest point. Conversely, roll increases, with the closest point exhibiting 3.7% of the roll at the farthest point. Both Z-displacement and roll are directly correlated with the robot’s mass; the lightest robot’s Z-displacement and roll are 9.2% and 12.8% of those of the heaviest robot, highlighting the safety advantage of lighter robots. This research enables precise analysis and prediction of the system’s responses during the landing process, providing significant insights for safe landing and design.
Processing Request
No Comments.