<p>Deployable membrane structures are advantageous for enlarging space structures owing to their high storage efficiency and low weight. Robotic maintenance approaches are effective for the long-term use of constructed space structures. However, conventional orbital robots are designed with grapple mechanisms based on “rigid” structures, such as in the case of space stations, making it challenging to grasp and move on “flexible” membrane structures without damage. To address these technical challenges, the authors previously proposed a robot that grasps a membrane by clamping it between two manipulators using a magnetic force, along with a motion strategy in which the two manipulators counterbalance each other’s inertial forces. In this study, the effectiveness of the proposed robotic concept was validated using a dynamic-simulation model. The simulation results showed that this strategy enables the robot to move without detrimentally deforming the membrane. Furthermore, a ground-based experimental method was devised to replicate the locomotion of the robot on a membrane. The experimental results demonstrated that the proposed concept allows the robot to move without membrane deformation. Finally, the simulation results, which were obtained by considering the initial conditions of the experiment, were in good qualitative agreement with the experimental results, and the formulated dynamic simulation model was preliminarily validated.</p>