The structure and working principle of a kind of permanentmagnet adsorption tracked wallclimbing robot used in ship was analyzed in this paper. The robot can complete vertical climbing wall function when permanentmagnet adsorption tracked was driven by ac servo motor. In order to improve the load capacity and obstacle surmounting ability of robot, a new permanentmagnet auxiliary caster adsorption mechanism and driven wheel floating mechanism were used for the design of structure.In thispaper, the mechanical state of the permanentmagnetic adsorption tracked climbing mechanism was analyzed.Through the magnetic simulation and experimental analysis of magnetic adsorption system, the adsorption unit structure and electric drive system parameters of the permanentmagnet tracked wallclimbing robot were reasonably designed.