УДК 7822 M.R.Bahrami A NOVEL DESIGN OF ELECTRICAL TRANSMISSION LINE INSPECTION MACHINE

This article is aimed at modeling of transmission line inspection robot in order to improve the mechanical mechanism and achieving dynamical stability to navigate through overhead electrical transmission lines while passing obstacles. A new mechanical mechanism design is developed that allows robot navigate more stable than current commercial inspection systems. The behavior of investigation machine while passing obstacle for four critical modes as follows has been studied: 1) Moving on a cable with maximum slope of 30degrees 2) Passing over aircraft warning lights 3) Passing over aircraft clamps and dampers 4) Passing from the strain insulators with/without twist in the horizon plane.