Motion Characteristics Analysis of Curved Passive Adaptive Wall-Climbing Robot

To address the issue of variable curvature adaptation for traditional wind turbine tower wall-climbing robots on curved outer surfaces, this study focuses on the fast stability and turning flexibility of wheeled structures. By analyzing the attitude changes of wheeled mobile mechanisms during movement on variable-curvature elevation surfaces, a novel robotic structure integrating split-wheeled mobility and gap permanent magnet adsorption technology is proposed. A multi-state motion model is established to analyze the adaptive motion characteristics of the robot, which utilizes the attitude adjustment of its split structure to traverse the variable-curvature tower wall. Prototype test results validate the rationality of the design, demonstrating reliable adaptive motion on curved surfaces.