Research on the Coupling Model for Inspection Robot to Depart from High-Voltage Transmission Line

Under the wind excitation, a coupling model for inspection robot to depart from high voltage transmission line is studied in this paper. It can provide a theoretical basis for the precise control of the robotic takeoff. The transmission of a high voltage line is regarded as the vibration of a string fixed at both end, the lateral vibration model of the transmission line can be established. Based on the physical structure of the inspection robot and the lateral vibration model of the transmission line, the coupling model of the robot-line can be established. According to the current situation of 330KV high voltage transmission line, the wind load model can be established. On the basis of the wind load model, a line coupling model of the aircraft under the wind excitation can be established. These can serve the takeoff and landing of the robot.