Design and analysis of a novel inspection robot mechanism with assistant arms

In this paper a novel inspection robot mechanism, which has excellent climbing performance and makes up for the defect of existing robots with poor climbing capability, is proposed for inspecting power transmission lines in some severe environments. After a brief introduction of background, the robot mechanism is described in particular, which is characterized by fore and rear assistant arms. Then the key performance of the inspection robot - climbing capability along inclined lines, is discussed in detail. And the obstacle negotiation process is analyzed. Finally, some simulations are carried out and the results prove that the robot can work well on the power transmission lines with a large angel and negotiate typical obstacles in the line