Dynamic Modeling and Vibration Suppression of Rigid-Flexible Coupled Overhead Line Mobile Robots

When a mobile robot performs inspection tasks on overhead lines, the nonlinear vibrations inherent in the flexible environment lead to instability in the end-effector pose of the robot. To enhance the operational stability of the robot and reduce end-effector errors, this study simplifies the overhead line mobile robot system into a flexible cantilever beam and a two-degree-of-freedom robotic arm model. For the static suspension state of the robot on the overhead line, the inverse kinematics method is employed to compensate for the joint trajectory of the robotic arm. The rigid-flexible coupling dynamics of the system are established by integrating the assumed mode method and Lagrange formulation, with a thorough analysis of the influence of the overhead line's flexible characteristics during robot motion. Based on the rigid-flexible coupling dynamics model, PID control and fuzzy sliding mode control strategies are designed to suppress vibrations induced in the overhead line by robot movement. Simulation results demonstrate that, compared to PID control, the fuzzy sliding mode control achieves superior vibration amplitude reduction and enhances robotic motion stability.