Development of suspending attitude self-balance mechanism for boom-orientated line inspection robot

This paper presents compound obstaclenavigating mechanism and expounds its navigating principle which meets the need for line inspection robot to navigate tower accessories. It proposes novel pitch balance mechanism and yaw balance mechanism according to the variation of suspending state and centre of mass when the robot navigating obstacles. It verifies the validity and feasibility of the mechanism via theory analysis and experiments. It paves the way for line inspection robot to work on overhead cables reliably.