Design and Analysis of a Biomimetic Inchworm Magnetic Wall‐Climbing Robot

ABSTRACT This paper presents a biomimetic inchworm magnetic wall‐climbing robot, which meets the needs of on‐site welding, grinding, inspection, and other tasks for large steel structures. The robot is innovatively proposed by observing the movement of the inchworm, which can not only achieve the full internal corner wall adaptation between the ground and the vertical wall, and between the vertical wall and the ceiling, but also achieve the full external corner wall adaptation between the vertical wall and the roof and between the ceiling and the upper vertical wall. The mechanical behavior of the robot on vertical walls, inclined walls, ceiling, and traversing between various walls is thoroughly examined. The analysis provides essential mechanical criteria to ensure the robot's secure operation under various working conditions. To further validate the structural design's robustness, we employ finite element analysis (FEA) on the critical structural components using ANSYS. At the same time, ANSYS Maxwell was used to simulate and analyze the magnetic attraction, and then the magnetic attraction curves across the internal and external angles of the robot were analyzed to ensure the safety of the robot's movement. Finally, according to the design and analysis, the prototype was developed and tested, and the test results showed that the robot met the expected functions and indicators.