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The article deals with the dynamics of wire transmission line while the robot-inspector is moving on it. To ensure proper and safe operation of the machine, mathematical modeling based on the Lagrangian mechanics has been conducted. The wire is considered as a stretched string with additional bending stiffness, and the robot-inspector as moving mass and pendulum. As the result, saw-tooth oscillations have been observed in the vertical plane and they cause parametric oscillations in the perpendicular plane. Advanced method of mathematical modeling of inspection robot motion on conductors allows us to choose the design parameters and the law of motion, in order to prevent accidents and ensure the safety of personnel.

Mechanics of diagnostic machine on electrical transmission lines conductors