By analysing the present de-icing robot design in China

a design scheme of de-icing robot with obstacle negotiation function in consideration of the structure features of the transmission line is proposed.The design scheme consists of the design of mechanical system and the design of the control system.The mechanical system is composed by the walking device

obstacle negotiating device and de-icing device

the control system includes main control module

wireless control module

motor drive module and status information feedback module.Performance tests in both laboratory and field indicate that

the mechanical system design of the de-icing robot is reasonable and the control system is of great stablity and effecitveness.