In order to reduce the drag caused by the hull attached to the ship and to increase the benefits of the ship transportation industry, an underwater hull cleaning robot is designed. The movement mode, adsorption method and driving method of the underwater hull brushing robot were introduced, a hull robot body structure scheme with wheeled walking, hydraulic drive and negative pressure adsorption was designed, and the statics analysis of the hull cleaning robot was carried out. The kinematics model of the hull surface movement was established. The adsorption force, the driving torque and the radius of gyration required for the robot to be able to stably and safely adsorb on the hull surface are analyzed.