Research Progress and Application of Magnetic Adhesion Wall-climbing Robots

A wall-climbing robot based on magnetic adsorption principles can achieve 3-dimensional movement on the surfaces of large steel structures, completing complex manufacturing tasks in high-altitude environments. This paper reviews the latest research progress on magnetic adhesion wall-climbing robots in terms of adsorption principles, functional design, autonomous navigation, and application scenarios. Firstly, 4 typical excitation principles are introduced, including permanent magnets, electromagnets, electro-permanent magnets, and hybrid excitation, and the design methods of magnetic adsorption units based on different excitation principles are investigated. Secondly, the design methods of existing magnetic wall-climbing robots are reviewed according to the functional classification of structural design, in terms of locomotion mechanisms, obstacle-crossing functions, curved surface adaptation, and wall transition capabilities. Then, the autonomous navigation and motion control technologies of magnetic adhesion wall-climbing robots in 3-dimensional spaces are introduced, including perception and localization, motion planning, and control technologies. Finally, the current application status of magnetic adhesion wall-climbing robots in various ferromagnetic operation scenarios is summarized, and the future development trends of key technologies are forecasted for these robots.