Dynamic Modeling and Analysis of Cable Climbing Robots Under Wind-Induced Cable Vibration

Wind is the leading cause of cable vibration, to enhance the adaptability of cable climbing robots in the cable vibration environment caused by different natural winds, this paper proposes a coupled wind-cable-robot dynamics modeling approach. Firstly, the effect of wind speed and direction on the amplitude and frequency of cable vibration is analyzed to establish a wind-cable coupled dynamics model. Then, this paper adopts a flying cable-climbing robot with a quadrotor drive mechanism consisting of four ducted-fans to provide climbing power as the research object to establish a flying robot-cable coupled dynamics model. Finally, the wind-cable-robot coupled dynamics model is developed based on the principle that the climbing of the flying robot triggers the forced vibration of the cable, and the vibration of the cable also has an effect on the climbing stability of the robot. The characteristics of the cable vibration under different wind speeds and the influence of the cable vibration on the climbing stability of the flying robots are analyzed through simulation.