研制了一台沿架空高压输电导线自动爬行和跨越障碍物的机器人。
A robot which can automatically crawl along overhead high-voltage transmission lines and span obstacles was presented.
采用摆臂机构搭载上障碍物，然后利用车轮和履带共同驱动跨越障碍物。
By applying the pendulum-arm mechanism, the wheel-track-interacted driving is eventually realized for this purpose.
针对机器人“履带—关节”的特殊结构，分析了机器人在典型地形下的通过性，并且设计了一套机器人自主跨越障碍物的动作规划算法。
Aiming at the special structure of the robot, track-joint, the overpass ability in typical terrain is analyzed. And an action-plan algorithm is designed about how to cross the obstacle automatically.
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