High-voltage lines are an important channel for power transmission, and multi-split transmission lines are the main strength of power transmission. Compared with double-wheel single-wire maintenance robots, ultra-high-voltage multi-split transmission lines and four-wheel mobile robots have a wider application range and greater demand. The maintenance of multi-split transmission lines relies on the stable walking and control of four-wheel mobile robots on heterogeneous multi-split transmission lines. However, uncertain disturbance factors such as wind load in the complex field environment cause vibration of double-split and quad-split lines. The slight change in the line spacing causes the line contact to the edge of the robot’s walking wheel, which increases the friction during the robot’s walking. It also directly hinder the movement of the robot on the multi-split transmission line, thus restricting the completion of the robot’s maintenance operation. Based on the analysis, this paper establishes a mathematical model of the external force disturbance influence on the spacing of the double-split lines. At the same time, the robot walking mechanics characteristics model under the change of the line space has been established. Three different forms of the robot walking online have been obtained through abstraction processing. A method of side friction identification based on fuzzy control has been proposed, through the online monitoring of the friction between line and edge of the walking wheel, the robot walking wheel motor walking force can be intelligently controlled in real time, and effectively avoids the “wheel-line” jam phenomenon under the external uncertain factors in the field environment. Finally, the feasibility and engineering practicability of the method have been verified through MATLAB/ADAMS simulation and field operation experiments. Therefore, the automation and intelligence level of the operation and the transmission system maintenance management has been improved.

In respond to the problem that the live working robot is easy to be affected by wind load in the process of field high altitude operation, which result in robot body rolling with poor stability and low operation efficiency, a robot momentum wheel balance control method under wind load action based on the principle of angular momentum conservation has been proposed in this paper. The moment generated by the rotation of the momentum wheel is used to offset the wind load moment so as to realize the robot online balance control. Through the analysis of the influence mechanism for the live working robot on the wind load, the coupling relationship model of three kinds typical parameters namely, wind force, robot rolling angle, and momentum wheel drive moment have been established. Based on the virtual prototype size of the live working robot, the physical model of the momentum wheel device is established and the dynamic model of robot balance system under the wind load is established by Lagrange method. Finally, the disturbance environment of the robot under the wind load action in ADAMS and MATLAB-SIMULINK software, a fuzzy PID controller has been adopt to control the robot online in real time wind load. Compared with computational torque control and gravity compensation control, the simulation result show that the momentum wheel balance can reduce the rolling angle under the wind load and keep the robot in a balance posture with strong robustness. The research of this paper has important theoretical significance and practical application value for promoting the practical application of robot in actual wind load operation environment.