Abstract
Fixed passive vibration absorbers (FPVAs) are widely used on power lines and other continuous systems, but they are inherently limited since changes in wind conditions affect absorber performance due to changing mode shapes. A mobile damping robot (MDR) can overcome these limitations by actively transporting a passive absorber to conductor antinodes where the absorbers can most effectively remove energy from the system. While many analyses have been performed for fixed masses on power line conductors, they have not been in the context of interactions between the conductor and a mobile damping robot (MDR). There is a need to explore the potential impact of the MDR on the power line and the resulting implications for the MDR’s development as current methods of vibration control do not adequately address fatigue failure caused by wind-induced vibrations (WIV). In this paper, we define a mathematical model of the system and perform numerical analysis in MATLAB® using equations of motion obtained via Hamilton’s Principle. We investigate the adequacy of an experimental test bench for testing. Then we experimentally validate the ability of a mobile robot to transport a mass along a conductor to antinode locations. Experimental results indicate that the robot is able to navigate to the locations of highest amplitude on the cable. The insights gained from this work lay a foundation to guide future experiments that will better define the operating conditions of the MDR and lead to the creation of an appropriate control framework.
