Research on Small Quadruped Climbing Robot for Power Transmission Tower

In the current research, most of the transmission tower climbing robots pay more attention to the load capacity, and a larger load means a larger volume and lower flexibility. This paper introduces a small four-legged transmission tower climbing robot with a weight of 849g, a volume of 56*138*105mm, and a crawling speed of about 0.75m/min. The robot uses an electromagnet as an adsorption device, and a steering gear as a joint drive motor. In this paper, the force on the motors of each joint is calculated by solving the Jacobian matrix, and the gait is analyzed through the force on the motors of each joint. And according to the three-dimensional force sensor at the end of the foot as feedback to detect whether the swing phase is safely adsorbed on the angle steel, so as to ensure the safety of climbing.