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However, the intricate geometry of these structures poses challenges for robot navigation and operation. To tackle this issue, this paper proposes a novel BTCRs climbing path planning framework based on a progressive multi-layer architecture. The robot\u2019s transition regions between adjacent members are determined efficiently by unfolding three-dimensional truss members onto two-dimensional planes and discretizing them. Initially, leveraging transition analysis, a global truss member route using graph search methods is generated. Subsequently, a mathematical optimization model is introduced to determine transition grips along the global route, minimizing the total number of grips. Finally, the single-step path planner employs an improved rapidly-exploring random tree (RRT)-connect algorithm, guaranteeing collision-free motion between adjacent grips. 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