Abstract: In view of the traditional wind tower cleaning，painting，maintenance and other operations，there

was a high risk of artificial aerial work. In order to ensure the personal safety of workers and improve work

efficiency，a wheeled climbing robot based on load balancing adjustment was designed. By analyzing the force of

the robot climbing the wind tower，the feasibility and stability of the robot structure were verified. A fuzzy

controller was designed to improve the slipping situation of the robot when climbing the wind tower. STM32 was

used as the main controller，and the design of the control system with the upper and lower computers was

completed. Then the experimental prototype of the robot was made. The experimental prototype tests demonstrate

that the robot can adapt to the taper of the wind tower to complete the climbing of the wind tower，and wind tower operation can be completed effectively.

      Key words: climbing robot；mechanical analysis；fuzzy controller；STM32 controller；embedded system