In order to realize the crawler inspection robot virtual simulation and the actual motion consistent, simulation model of each track is established using ADAMS software with macro instruction. The bushing stress, contact stress between each track segments and the solver simulation parameters were set reasonablely. The obstacle crossing process of the inspection robot was virtual simulated and gotten the motor driving torque variation rule. Finally the obstacle crossing performance of inspection robot experimental prototype is tested, that the design of inspection robot obstacle performance indicators have reaches the design requirements.