Design of a Quadruped inspection Robot Used in Substation

Nowadays, the substation inspection robot always uses wheeled chassis, which is suitable for running on relatively flat road. However, there are steps, stone road, stairs and other complex terrain in substation, so it is difficult to achieve full coverage of inspection area. In order to solve this problem, a prototype system of quadruped inspection robot is designed, and the hardware and software structure and design points are described in detail. In addition, the software system architecture based on B/S mode is also discussed briefly. Finally, the designed robot proposed in this paper is tested in a 500kV substation to verify the adaptability of the quadruped inspection robot to the complex terrain of the environment.