Research on Gait Planning for Wind Turbine Blade Climbing Robots Based on Variable-Cell Mechanisms.

ABSTRACT: To address the complex surface curvature, massive dimensions, and variable pitch angles of wind turbine blades, this paper proposes a climbing robot design based on a variable-cell mechanism. By dynamically adjusting the support span and body posture, the robot adapts to the geometric features of different blade regions, enabling stable and efficient non-destructive inspection operations. Two reconfigurable configurations-a planar quadrilateral and a regular hexagon-are proposed based on the geometric characteristics of different blade regions. The configuration switching conditions and multi-leg cooperative control mechanisms are investigated. Through static stability margin analysis, the stable gait space and maximum stride length for each configuration are determined, optimizing the rob

SUBMITTER: Lu H 

PROVIDER: S-EPMC12845711 | biostudies-literature | 2026 Jan

REPOSITORIES: biostudies-literature