Gripper vibration analysis of inspection robot during variable working flight of pre-landing on high-voltage transmission line

When the high-voltage transmission line inspection robot (HVTIR) with gripper is pre-landing line during flight, the vibration of the landing gripper seriously affects the stability of landing line. To study the vibration characteristics of the flying HVTIR during pre-landing flight, a mass-stiffness-damping vibration model from the rotor to the landing gripper is constructed based on the D’Alembert’s principle. Secondly, based on the model, a sensitivity function between the HVTIR’s gripper vibration and the damping ratio, mass ratio, and natural frequency of the components is constructed using the normalization method. By this function, the HVTIR structure is quickly optimized accordingly, the maximum vibration value of the gripper is reduced by 25.72 %, and the minimum interquartile spacing of the box graph is reduced by 23.01 %. Finally, the HVTIR test system is established using MPU6050. Under different flight modes, the trend of theoretical value and experimental value are the same, and the maximum error range is not more than 26 %, and the minimum interquartile spacing of the box graph is not more than 27.01 %. The rationality of the model is proved, which also provides a basis for subsequent control.