| dc.description.abstract | In steel structure buildings, regular inspection and maintenance are crucial for ensuring
structural safety and prolonging service life. However, steel structures are often located at high
or hard-to-reach places, making the inspection process complex and hazardous. Traditional
inspection methods require significant manpower and resources and pose dangers when
working at heights. To address these issues, this study developed a steel structure climbing
robot based on magnetic adhesion and omnidirectional wheel technology to enhance inspection
efficiency and reduce manpower requirements.The objective of this study is to design and
validate a climbing robot that combines omnidirectional wheels and magnetic adhesion
technology. This robot can move flexibly and adhere stably to steel surfaces. Through the
omnidirectional wheel mechanism, the robot can adapt to various terrains and perform flexible
movements in all directions on steel structures.The study used 3D printing technology to design
the main parts of the robot. After confirming the design′s feasibility, the robot body was custom-
made with lightweight yet high-strength aluminum alloy. Experimental results show that the
designed robot performs well in terms of magnetic adhesion under different weights, crawling
ability at various angles, ability to traverse bolt spacing, load testing, and crawling speed.The
experimental results demonstrate that the Mecanum wheel mechanism of the robot significantly
enhances its ability to adapt to climbing on different steel structures. The development process
included five design iterations, aiming for the robot to achieve more stable adhesion to the walls,
faster movement, higher load capacity, and greater flexibility. Finally, a series of experiments
validated its performance and stability. In the future, this robot is expected to be applied in steel
structure inspections, providing a safe and efficient solution.
Keywords: Steel Structure Inspection, Climbing Robot, Magnetic Adhesion, Omnidirectional
Wheel, 3D Printing | en_US |