Abstract:A new type of hull climbing robot was designed to grind the welding seam on the side walls of large ships,by which the way relying on manual grinding operations was changed,not only work efficiency was improved,but also the occurrence of safety accidents was greatly reduced.The robot included a walking mechanism,an adsorption mechanism and a welding seam grinding actuator.A static model was established for the wall-climbing robot under different extreme working conditions,and the limit magnetic adsorption forces of the wall-climbing robot when slip failure,lateral overturning failure,longitudinal overturning failure and detachment failure occur were analyzed.Ansys Electronics Desktop-Maxwell was used to simulate and optimize the structure of the permanent magnet to meet the required magnetic attraction force.After building the prototype,performance test,magnetic adsorption test and weld grinding test were performed on the robot.The results show that the robot not only has good welding seam grinding effect,but also has stable working performance.