Development of a self-balance dual-arm robot for inspection of high-voltage power transmission lines

This paper proposes a climbing robot for inspection of high-voltage power transmission lines. The robot is based on a self-balance dual-arm mechanism. It has the capability of avoiding dampers, spacers, suspension clamps and strain clamps, spanning between lines and climbing on much steep cable. It is dedicated for the inspection of single cable, double bundle cables and four bundle cables whether the cables are powered on or not. This paper mainly demonstrates the mechanical design, the principle of robot altitude control and the driving technique of the joints. The simulation results based on ADAMS confirm that the mechanical design is reasonable. The practical model of the robot which could be manipulated by a remote controller is also mentioned in this paper.