A study on inspection robot wheel to pass an obstacle on a four conductor transmission line

In this study, we describe the basic design of an inspection robot wheel that can pass over obstacles without the need for lifting. We selected polyurethane, which provides the highest level of insulation between the line and the wheels, as the wheel material. A finite element model of wheel is generated and is compared with the real polyurethane wheel through a pressing test. A space damper is set as the main obstacle. We carried out a Multi-body dynamics simulation is conducted by changing the wheel diameter. We arrived appropriate diameter when the torque is using area.