Design of Mobility Mechanism and Motion Control of High-Voltage Hanging-Line Inspection Robots

As the demand for inspection of high-voltage transmission lines increases, traditional manual and aerial inspection methods are no longer sufficient to meet the efficiency and safety requirements. Intelligent inspection robots, as an emerging technology, have the potential to enhance both efficiency and safety. However, existing robots generally suffer from issues such as complex structures, large size, heavy weight, difficult control, and limited battery life. To address these problems, this paper proposes an innovative design for an inspection robot, which adopts a dual-arm, symmetrical suspension wheel-arm composite structure aimed at improving displacement control and positioning accuracy. Through dynamic modeling, a force model for both the transmission line and the robot is established, and the torque equation for line walking is derived. The relationship between the wheel and cable inclination angles, as well as the robot body tilt angle, is analyzed. Simulation results show that the proposed design has a simple structure, is lightweight, and has fewer degrees of freedom, which significantly enhances operational efficiency and safety, meeting the requirements for long-distance autonomous inspection.