# The Kinematic Analysis of a Wind Turbine Climbing Robot Mechanism
## 1 Introduction
The fourth model, the OmniClimber, has a high maneuverability for the inspection of ferromagnetic flat or convex structures, and it uses an omnidirectional magnetic wheel. The OmniClimber is new system development of its adaptable chassis, traction system, and central magnet. The central magnetic unit provides enough magnetic attraction force to hold the robot on the surface during robot action. The three-side magnets provide wheel traction to allow the robot to climb any structures without slippage [2]; its drawback is that this type of locomotion encounters noncontinuous contact due to the multiple adjustment system that causes a contactless interaction of the traction magnets to the wheel and surface structures. The fifth model is the Lego-based Robot, its bricks support the rapid transition towards the crawler, thus introducing continuous climbing instead of intermittent climbing. The robot utilizes tracks as locomotion and diagonal ropes were employed for the connection, while rubber bands contracted the system [8]; its drawback is that this type of locomotion is only limited to a single up-down movement. The sixth model, the Bladebug robot, uses suction to achieve adhesion to the blade. These six legs vacuum-padded feet robot perfectly adhere to blade surfaces and perform visual inspection [3]; the drawback of the six-leg design relates to a slowness of walking locomotion and its low payload capacity. The seventh  
Figure 1: Wind turbine physical problems: (**a**) moistness and dust; (**b**) grease and hydraulic oil. model, the magnetic climbing robot for the wind turbine tower, uses permanent magnets as an adhesion force. The robot uses four vertical wheels supported with eight shock absorbers to maintain the wheels in contact with the curvature of the tower. The robot can subsequently scan the blade surface to perform an inspection using various sensors to identify and classify damages [9]; its drawback is that this type of locomotion has a fixed orientation with a directed path in climbing up and down. \begin{table}
\begin{tabular}{c c c c c c} \hline \hline  & **WT Climbing** & **\multirow{2}{*}{**Image**} & **Locomotion** & **Adhesion** & **Movement** & **Application Task** \\ \hline
1 & “Ring” Climb Robot [5] & & & & Mechanical— & Up-Down & In-situ blade \\
2 & Adhesion Robot [5] & & & spring & Spiral & Rotate & inspection \\
2 & Magnetic & & & & & \\ Adhesion Robot & & & & & & \\
3 & Two feet & & & & & \\ Climbing Robot [7] & & & & & & \\
4 & OmniClimber & Omnidirectional & & & & \\
5  
+++ ==WARNING: Truncated because of repetitions==
& Robot [2] & & & & & \\
6 & OmniClimber & Omnidirectional & & & & \\ Wheeled & & & & & \\ \hline  
++  
From the various wind turbine climbing robot studies, this research proposes a climbing robot that can move along on the wind turbine tower surface in different up-down movement states, and rotate and spiral using mecanum wheels to achieve its maximum maintenance efficiency where the robot needs to reach a pose on a specific tower area and perform in situ maintenance. The development of the mecanum wheel was pursued to further prove the effectiveness of this type of architecture and to add a transformative platform that is capable of remarkable maneuverability. Its multidirectional movements provide insights on the capability to move on circular truncated cone tower surfaces to document their performance addressing a vital industrial need of the rapid adoption of new clean technology. Through its exceptional maneuverability the robot can often deploy ancillary equipment to perform certain application tasks. The mecanum wheels are mounted in a fixed position and orientation with respect to the robot's body, provided that each wheel touches the tower surface as it travels. The wheel must touch around its point of contact on the tower to perform movement. The adhesion for the robot uses a winding mechanism, which uses a cable tension force to hold on the tower surface without falling to the ground, and to keep the robot in contact to the tower.