A Study on Dynamic Stiffness of Inspection Robot Frame Considering Sub-span Oscillation

서브스판 진동을 고려한 송전선로 검사로봇 프레임 구조 설계에 관한 연구

This paper presents a design methodology for improving dynamic stiffness of an inspection robot frame to prevent resonance. Finite element models of robot frame are developed for natural frequency analysis. Natural frequency analysis of robot frame is conducted to compare with sub-span oscillation which is excitation frequency. Reinforcement beams are applied to the sensitive parts of the robot frame to improve dynamic stiffness using case study. To reduce mass of the robot frame, thickness optimization of the robot frame is carried out by utilizing response surface method. The result of optimization show that dynamic stiffness of robot frame is increased. As a result, natural frequency of an optimal model is not included in range of frequencies of the sub-span oscillation.