Aiming at the operational needs of wall climbing robots on hull wall in complex environment，a four-tracked all-position wall climbing robot was designed and validated,aimed at enhancing its adaptability and operational efficiency.Through the construction of a 3D model and simulation using ADAMS software,the robot’s dynamic behaviors in three main working conditions,surface curvature changes,wall corner transitions,and obstacle overcoming,were thoroughly analyzed.The simulation results reveals that,in the face of surface curvature changes and wall corners,the robot successfully achieves stable transitions by adjusting the angle and speed of its tracks;during obstacle overcoming condition,despite the rear tracks displaying a tilting phenomenon,precise speed feedback control of the tracks effectively resolves potential internal compression and sliding issues.Additionally,the physical test results further validate the robot’s performance,with its maximum movement speed exceeding 5 m/min,load capacity reaching 20 N,and obstacle clearance height achieving 14 mm,all meeting or surpassing the design expectations.Both simulation and prototype test demonstrate the excellent adaptability of the robot under critical working conditions,successfully achieving stable transition and obstacle climbing.