In order to reduce the complicated daily inspection tasks of power system staffs and improve the inspection efficiency and accuracy, an indoor orbital inspection robot applied to the power industry is developed. The inspection robot includes robot body, track and background monitoring system. The walking system, lifting system and camera platform system of the robot are introduced, and the hardware control circuit and software system are developed. Based on the simulation environment Gazebo of the Robot Operating System(ROS), the robot model is created by two method. The first method is to create robot by using Gazebo model editor, and the second method is to create robot by software SolidWorks then model is exported to URDF file. The simulation results show, the robot model established by Gazebo model editor is more convenient for simulation optimization analysis.