A simple robot manipulator able to negotiate power line hardware

This paper presents a reasoned approach to specifying the number of degrees of freedom on a power line-mounted inspection robot, which is capable of climbing around obstacles found on overhead conductors, including jumper cables. A summary of the robot's hardware design is also provided, with experience gained on a first prototype influencing major design aspects on a second prototype, which in turn has resulted in a far more robust, field-oriented machine.