Bio-inspired model of inspection robot for striding obstacle on overhead transmission line

Due to the poor ability for striding obstacles of former inspection robots on over head transmission line,a bioinspired inspection robot model was presented in this paper.Two-arm hanging dynamic model of was built.The periodic striding motion was calculated by adjusting the relative angle of the two arms,and the relative distance between the front hook and obstacle.The striding process contained two separate swinging processes.The results show that,when the robot was started with the initial condition that θ1=2.41(rad) and the velocity of two arms were 0,the periodic striding motion could be found.This paper provides a new sight and design method for striding obstacles of inspection robot on overhead transmission line.