This paper presents a solution for safety maintenance inspection on power lines. Actually, the overhead lines inspections have carried out by direct observation of the technician, on energized equipment with special techniques. It is slow and it requires intensive job. It affects the security of the electrical system and it affects the power supply, with the consequent impact, for users, in a grid. The network requires more reliability and availability for power system security. In this opportunity, it developed a solution for inspections of guard cable and wires, by a robot unit. It included security, avoiding outages, even better without affecting the safety of people working on towers and height. It combined and integrate different progress of robotics for deliberative and reactive learning with a novel mechanism; the robot can control the position of its center of gravity. It increased capabilities and skills with a series of simulation and experiments permit to evaluate the maneuverability of the robot. The results showed that the robot has good ability of motion.