Since there are no moving parts, solar panels require very little maintenance. Once you have covered the installation cost of solar panels, there are not many costs associated with maintaining them. Having said that, you should inspect them a few times per year for dirt or some other things that might have piled on top. It is important that the panels are clean and there is nothing blocking them from efficiently absorbing the sun.
You should have your system examined every 4-6 years by an installer. It is also a good idea to ask your installer about specific maintenance requirements for your solar system.