Design and Simulation Analysis of Offshore Wind Turbine Pile Foundation Maintenance Robot

With the development of offshore wind farms, the demand for their maintenance is constantly increasing. This paper proposes an offshore wind turbine pile foundation maintenance robot with obstacle crossing capabilities. Firstly, the maintenance robot mechanism is designed, and the feasibility of the robot's obstacle crossing is verified. Subsequently, the Halbach magnet pole distribution scheme is selected through magnetic simulation analysis. Finally, the obstacle crossing process analysis, quasi-static force analysis and dynamic simulation analysis of the robot obstacle crossing are carried out. The analysis results show that the robot operates smoothly in the vertical direction and effectively crossed the 200 mm flange of the offshore wind power pile foundation, verifying its stability and effectiveness.