Barrier-crossing Design of the Inspection Robot in Substation with Wheel-Track

Abstract

In order to meet the needs of mobile inspection robot drives fast on flat road, and walks normally in the complex environment (roadside stone, grass, etc.). We designed a new mobile platform of robot with the wheel-track. The mobile platform used wheels to drive normally on flat cement road. If the mobile platform encountered the curbstone (the curbstone height is generally 150-200mm), which used front and back swing arm to lift the mobile platform of robot, finally, the robot completed the barrier-crossing task with the motor driving force. If the robot encountered with gravel, grass, and other complicated environment that using wheel not to drive normally, which can use the front and back swing arm and track to walk.