In our previous paper, we developed an insulator inspection robot system for a suspension insulator string in the 345kV power transmission line. However, this robot cannot be applied to a tension insulator string, because its constituent insulators are different in diameter and height from those of a suspension insulator string. To solve this problem, we developed a new live-line insulator inspection robot system that is applicable to both suspension and tension insulator strings. We confirmed its effectiveness through live-line performance tests.