Research on a novel inspection robot mechanism for power transmission lines

A novel mechanism for power transmission line inspection robot is presented according to the requirements of inspection tasks and characteristics of obstacles on power lines. Its configuration is introduced, and the kinematics equations and statics model are established. Then, the motion sequences for crossing the strain clamp are planned. Furthermore, the simulation of the navigation of the strain clamp has been carried out. The simulation results demonstrate that the mechanism has such characteristics as good motion stability, strong loading capacity and excellent obstacle negotiation capability.