System and method for assembling or disassembling of a wind turbine

A method for connecting a first component and a second component, the method comprising the following steps:

• providing a system having a motion compensation mechanism, wherein the motion compensation mechanism includes a first connection interface for connection with a first component of the wind turbine moved by a crane, a second connection interface for connection with a second component of the wind turbine, a tension element connecting the first connection interface and the second connection interface, and a tension device for keeping the tension element under constant tension as the first component and the second component move relative to each other;
• connecting the system with the first component using the first connection interface and with the second component using the second connection interface;
• moving the first component relative to the second component on a given trajectory by the crane and the motion compensation mechanism, wherein the motion compensation mechanism allows a movement of the first component relative to the second component as the first component and the second component move relative to each other on the given trajectory;
• keeping the tension element under constant tension as the first component and the second component move relative to each other;
• connecting the first component and the second component;
• providing a tension force, during the connecting, on the tension element using the tension device;
• dynamically adjusting the tension force, during the connecting the first component and the second component, in response to force pulling at the tension device based on measurements from a force sensor to dynamically respond to movement of the first component and the second component including dynamically adjusting the tension force provided by the tension device when a second force pulling on the tension element is below a threshold to increase the tension force and/or dynamically adjusting the tension force provided by the tension device when the second force pulling on the tension element is above the threshold to decrease the tension force;
• and
• automatically applying, by the tension device, a high predetermined force on the tension element that blocks a movement of the first component back and forth on the given trajectory in response to a signal provided by a contact sensor.