Structural Analysis and Experimental Verification of Climbing Robot for Transmission Tower

Due to lack of temporary falling protection device，the power transmission tower climbing robot is needed to research and developto replace the first climbing personnel to guarantee their safety.According to actual working environment and its functional requirements，a climbing robot model based on bionic silkworm characteristics is proposed in combination with bionic principles.The structure of the robot is designed and the adsorptionstability in the climbing process is analyzed. The kinematic model of the robot is established and the working space is simulated to verify the rationality of the robot structure.The physical prototype is manufactured and the relevant climbing experiments are carried out，the experimental results showing that the robot can replace the personnel to climb the tower.