Basic Mechanical Design of the Omnidirectional Vehicle Units with Magnetic Twin-Caster Mechanism for Realizing the Motion on Thin Film Walls

Moving along porous membrane walls, such as fabric or mesh, presents a significant engineering challenge for wall-climbing robots. Traditional suction mechanisms, such as suction cups, struggle to adhere effectively to porous surfaces. Additionally, if the wall is non-magnetic, conventional magnetic adhesion methods are also ineffective. While drone-based approaches offer an alternative, there is a risk of damaging the membrane with propellers, and like suction-based methods, maintaining position and posture consumes considerable energy. In this study, we address these challenges by proposing a robotic system designed to traverse non-magnetic, flexible membrane walls. The system comprises a vehicle equipped with three omnidirectional drive units, each with two magnetic wheels, mounted on both sides of the membrane. As a preliminary step, we conduct a fundamental analysis of the vehicle’s configuration, develop a prototype, and validate its basic effectiveness through practical experiments with the physical model for future system.