The inspection robot along the ground wire has been widely studied and applied to the detection for high voltage transmission line because of its significant advantage of extensive vision. Since the inspection robot could not go through the ground wire fittings directly, it was a significant challenge to study the way for the robot to navigate these obstacles. Basing on the comprehensive considerations of the structure characteristics of the ground line fittings, the reconstruction schemes for the damp, the suspension clamp, and the top of tension tower have been proposed in this paper. The strength calculation of the reconstructed suspension clamp has also been checked. A new inspection robot with the integrated structure designate method has been implemented. The motion plan for the robot to run across obstacles was also proposed by considering the characteristics of the reconstructed obstacle fittings. In order to test the reliability and efficiency of the robot to navigate these obstacles, an experimental system with 1:1 of practical high voltage transmission line and ground wire fittings was established in the experiment field at Wuhan University. The obstacle negotiation test results showed that the inspection robot ran safely and had higher efficiency to cross the ground line fittings, which were reconstructed according to the schemes proposed in this paper.
