This article demonstrates a reconfigurable soft wall-climbing robot actuated by electromagnet. The robot follows the earthworm movement gait and is capable of translation, deflection, and rotation movement while working on a sloping ferromagnetic wall. Also the electromagnetic actuator provides a significant improvement in expeditiousness compared with existing actuation modes. The speed of the robot can be adjusted by modulating the power frequency. When the period of motion cycle is 30 ms, the speed is about 26.5 mm s⁻¹, and the robot can rotate with a velocity of 14.1° s⁻¹ on the horizontal plane. It can also climb a vertical wall at the speed of 12.6 mm s⁻¹. The robot is composed of two kinds of modules which can be connected by the magnets embedded. It can also be reconfigured in different working conditions, such as crossing an inaccessible gap, and thus has the potential to be used in flaw detection, surface cleaning, and exploration of ferromagnetic structures.

本文演示了由电磁驱动的可重构软爬壁机器人。该机器人遵循worm的运动步态，并且能够在倾斜的铁磁壁上工作时进行平移，偏转和旋转运动。与现有的致动模式相比，电磁致动器还提供了快速性的显着改善。可以通过调节电源频率来调整机器人的速度。当运动周期为30 ms时，速度约为26.5 mm s ^-1，并且机器人可以在水平面上以14.1°s ^-1的速度旋转。它还可以以12.6 mm s ^-1的速度爬上垂直墙。机器人由两种模块组成，可以通过嵌入的磁铁进行连接。它也可以在不同的工作条件下进行重新配置，例如越过难以接近的间隙，因此有潜力用于探伤，表面清洁和铁磁结构的探查。