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Volume 13 | Issue 8 | Year 2026 | Article Id. IJME-V13I8P111 | DOI : https://doi.org/10.14445/23488360/IJME-V13I8P111

Design and Fabrication of Bioinspired Turtle Wall Climbing Robot (TWCR) using Coppeliasim

Saravana Kumar U, Hamsadhwani. V, Meena. K, Rakesh. R, Shivakumar. N

Received Revised Accepted Published
12 Mar 2026 14 Apr 2026 16 May 2026 27 Aug 2026

Citation :

Saravana Kumar U, Hamsadhwani. V, Meena. K, Rakesh. R, Shivakumar. N, "Design and Fabrication of Bioinspired Turtle Wall Climbing Robot (TWCR) using Coppeliasim," International Journal of Mechanical Engineering, vol. 13, no. 8, pp. 131-138, 2026. Crossref, https://doi.org/10.14445/23488360/IJME-V13I8P111

Abstract

Though there are various wall-climbing robot designs proposed so far. There are only a few wall-climbing robots that are based on biomimetic developed mimicking the movement or features of any living organism. There is always a great demand for such a biomimetic robot that climbs wall which is to be light weighted compact in size, that can perform various industrial application tasks. That too, especially to perform any precise task where the navigation time is given the least priority, there is a scope for slow moving robot that climbs walls. In this article, one such biomimetic robot that climbs walls is designed inspiring the shape and movement of a turtle. The mathematical modelling of this turtle bot is done using free body diagram. Then, this Turtle Wall Climbing Robot (TWCR) is modeled in FEMM in order to justify its design with respect to the flow of magnetic field strength and intensity. The design of this turtle bot was first made in the simulation environment named Coppeliasim. In this Simulation environment, the turtle WCR is allowed to ascend and descend, so that the compatibility and feasibility check is made, and the time taken is also noted. These simulation readings are then cross-verified with the readings taken from the fabricated real-time testing made on the wall inside the lab.

Keywords

TWCR, Bio Inspired Wall Climbing Robot, Femm, Coppeliasim, Free body diagram.

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