Design and implementation of the suspended inspection robot for the ground wire

The self-walking inspection robot is designed in this paper which can walk on the ground wire, which is suspended on the power line1. In order to cross the obstacles, the proposed robot possesses three wheeled arms, which is designed as four-bar linkage. The inspection robot consists of two parts including hardware and software systems, where DsPIC30F6015 is selected as the control chip. Finally, we build the experimental environment and take functional testing. Simulation results indicate that it is effective for our robot to cross the obstacles.