Design of obstacle crossing mechanism of high-voltage transmission line inspection robot

In order to improve the ability of running and crossing obstacle smoothly, a novel obstacle-crossing mechanism of inspection robot is designed for high-voltage transmission line inspection. Modular obstacle-crossing mechanisms include rotating mechanisms, lifting mechanisms, driving mechanisms and clamping mechanisms. Through the interaction of the driving wheels and clamping wheels, the inspection robot can tightly hold high-voltage transmission line and climb the sloped line. Adams simulation experimental results show that the structure of the obstacle crossing mechanisms work well with the satisfactory performance.