Aimed at the development requirement of robot replacing human beings for substation routine inspection, a robot which has a pan-and-tilt with the function of ascending and descending is designed to conduct routine inspections of substation instead of manual operation. In this paper, an introduction to mechanical structure design, establishment of control system, and models of kinematics and dynamics models is given, then simulation analysis is carried out on its stability using Matlab. At last, the actual torque of each driving motors acquired through experiments and the simulating ones acquired via simulation are compared, which shows the correctness of the designed model and the stability of the prototype, thus the feasibility of providing theory foundation for the control of driving acceleration and lifting lever height when the robot is moving at inclined road with different slope degree during its inspection tasks.