According to the problem that underground cable in tunnel is not convenient for manual check

a tracked inspection robot with excellent flexibility to probe the cable in tunnel is designed. Also

the current situation of urban underground cable is also reported. The characteristic as well as working process of the robot is explained and the kinematics of transmission mechanism is analyzed herein. Utilizing the design function of Pro/ E software

a threedimensional entity model of the robot traveling mechanism is established and the simulation of kinematical characteristics is operated on the model. The position

angular velocity and accelerat ion curves of a point are obtained

the basis for further opt imizat ion design on the robot is provided.