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Continuous operation of the electrical transmission lines is of greatimportance for today's electricity-dependent world. It is crucial to detect anddiagnose a possible problem on the lines before that occurs. In general,maintenance, repair and error detection operations of the electricaltransmission lines are performed by humans periodically. However, thesedifficult tasks contain high-risks in terms of occupational health and safety.Moreover, it is not possible to continuously inspect these lines which extendover long distances by maintenance and repair personnel. For all these reasons,it is very convenient to use robotic systems for inspection on powertransmission lines. By evaluating the data which are provided from sensors andcameras of robotic systems, it would be possible to take precautions before anerror occurs. Robotic systems that can move continuously along the line wouldbe able to gather continuous and uninterrupted information. Thus, potentialproblems can be detected and identified in advance. In this study, a singlewheel drive low-cost mobile robot is designed and controlled which can work andmove on the electrical transmission lines. Because of the modular structure ofthe designed robot, different types of sensors can be integrated into therobot, easily. The designed low-cost robotic system will cause minimum lossesin case of possible breakage.

ROSETLineBot: One-Wheel-Drive Low-Cost Power Line Inspection Robot Design and Control