Mechanical design and research of a novel power lines inspection robot

摘要

This paper proposes a novel mechanical structure for power transmission lines inspection robot. The proposed structure composed of two identical lifting arms which are connected through middle girders with two rotational joints. Symmetric mechanical structure is adopted as a whole. There are four mainly units, including motion units, open-close units, pressing units and rotating joints. Walking and obstacle-overcoming experiments on the simulative lines achieve the desired effects in the lab. It proves the validity of the mechanical structure design and the maneuverability of the robot.