A mobile robot prototype for inspection of overhead bundled conductors

A new mobile robot prototype for inspection of overhead bundled conductors is proposed. The mobile platform is composed of 4 arms. And there is a motorized rubber wheel on the end of each arm. When the robot runs on a transmission line (eg. 500kv, 4-bundle conductors), its wheels use the lower 2 conductors as a support. Two wheels ride on the left lower line, and the others ride on the right one. Along the direction of the lines, the 4 wheels are arranged by a sequence of 1 front wheel, 2 middle wheels and 1 rear wheel. It could roll over some obstacles (compression splices, vibration dampers, etc). Each arm has 2 degrees of freedom, therefore it could clear other types of obstacles (spacers, suspension clamps, etc).