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<p>The operational stability of power transmission line inspection robots (PTLIRs) is severely challenged by wind-induced structural sway, while conventional vibration suppression methods are difficult to apply due to strict weight constraints. This study proposes and validates a novel zero-additional-mass vibration suppression strategy based on an integrated dynamic vibration absorber (DVA). Its key innovation lies in repurposing the robot’s existing batteries and electrical components as the DVA mass, eliminating the extra weight of traditional absorbers. First, a wind disturbance model was developed to provide dynamic loading. Then, a dynamic model of the PTLIR with the integrated DVA was established using Lagrange’s equations, and the DVA parameters were optimized via fixed-point theory. Subsequently, the effectiveness of the design was evaluated through numerical simulations and laboratory experiments. Results show that the DVA significantly suppresses vibrations under all conditions, reducing the root mean square (RMS) of wind-induced swing angles by up to 34.13% in simulations. Comparative analysis confirms that this lightweight design achieves higher intrinsic vibration suppression efficiency than heavier conventional DVAs. By effectively balancing vibration control and lightweight design, this study provides a practical, robust, and experimentally validated solution for enhancing the operational stability of PTLIRs and other weight-sensitive mobile robots.</p>

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Lightweight vibration suppression of a power transmission line inspection robot using an integrated dynamic vibration absorber

  • 期刊论文

  • 发表日期：

    2025年10月3日

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  • Xing Fan,
  • Xiaopeng Li,
  • Dongyang Shang,
  • Haozhe Wang

摘要

The operational stability of power transmission line inspection robots (PTLIRs) is severely challenged by wind-induced structural sway, while conventional vibration suppression methods are difficult to apply due to strict weight constraints. This study proposes and validates a novel zero-additional-mass vibration suppression strategy based on an integrated dynamic vibration absorber (DVA). Its key innovation lies in repurposing the robot’s existing batteries and electrical components as the DVA mass, eliminating the extra weight of traditional absorbers. First, a wind disturbance model was developed to provide dynamic loading. Then, a dynamic model of the PTLIR with the integrated DVA was established using Lagrange’s equations, and the DVA parameters were optimized via fixed-point theory. Subsequently, the effectiveness of the design was evaluated through numerical simulations and laboratory experiments. Results show that the DVA significantly suppresses vibrations under all conditions, reducing the root mean square (RMS) of wind-induced swing angles by up to 34.13% in simulations. Comparative analysis confirms that this lightweight design achieves higher intrinsic vibration suppression efficiency than heavier conventional DVAs. By effectively balancing vibration control and lightweight design, this study provides a practical, robust, and experimentally validated solution for enhancing the operational stability of PTLIRs and other weight-sensitive mobile robots.