The structure and working principle of a kind of permanentmagnet adsorption tracked wallclimbing robot used in ship was analyzed in this paper. The robot can complete vertical climbing wall function when permanentmagnet adsorption tracked was driven by ac servo motor. In order to improve the load capacity and obstacle surmounting ability of robot, a new permanentmagnet auxiliary caster adsorption mechanism and driven wheel floating mechanism were used for the design of structure.In thispaper, the mechanical state of the permanentmagnetic 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 permanentmagnet tracked wallclimbing robot were reasonably designed.