Currently, most of the inspection robots for high-voltage transmission lines, both at home and abroad, utilize a
multi-cantilever rigid structure. However, the inefficiency and poor safety of these robots when it comes to
crossing obstacles make them impractical. To address this issue, a magnetically actuated soft inspection robot
has been developed. This robot uses the amperage force applied to the current-carrying coil in a HVDC toroidal
magnetic field to efficiently and flexibly cross multiple obstacles in an inchworm-like motion. The focus of
this paper is on the design and theoretical calculation of the magnetically actuated model, specifically the magnetic
linear traction force and magnetic adsorption force (diastolic force), required to enable the soft robot to
crawl. Through simulation and kinematic analysis, the results show that the magnetically actuated soft robot
design proposed in this paper is theoretically feasible, providing a foundation for future developments in magnetically
actuated soft robots.