Structural Analysis of Biomimetic Metal Net Climbing Robot (Mncr) and Dead Reckoning Using Imu for Analysing its Stability Under Triple and Double Step Signal

In the growing era of technology in construction industries, field robotics has evolved with many significant advancements that enhance construction processes. Specifically, Mesh Net Climbing Robots (MNCRs) have undergone technological updates in terms of locomotion and adhesion mechanisms. Mobile climbing robots can be categorized into legged, wheeled, and crawling types. Many researchers have studied the design features of these robots, particularly GAIT mechanisms. Not all GAIT strategies are equally suitable for ensuring stability, especially when robots climb vertical mesh surfaces against gravity. This paper presents a detailed structural analysis of an MNCR using ANSYS software and explores possible gait mechanisms for legged robots using two- and three-step signals to complete one cycle of motion. The dead reckoning method with an Inertial Measurement Unit (IMU) is used to evaluate stability factors for each GAIT and the results are compared to determine the most suitable option. An IoT-based approach via Edge Impulse software is also applied to measure stability across different GAIT. The design of this MNCR provides insights into developing wall-climbing robots capable of performing NDT tests on high-rise buildings or bridge pillars.