Abstract:A new wall-climbing robot of permanent magnetic adsorption is presented.A triangular body structure was included in using with two triangular pedrail wheels and a universal wheel,which was suitable for cylindrical or spherical wall of pressure vessel.The solid model was established by using Pro/E software,than imported data into ADAMS software.Then its constraints were created,and the material properties and the contact,and adding driving force and etc.were defined to establish dynamics model.The two movement patterns were simulated as moving on a cylinder with a radius of 2 m and crossing over the welding line above 5 mm high at the speed of 6 m/min,and were compared with the traditional four-wheeled robot.Simulation results prove that the wall-climbing robot can effectively adapt to the cylindrical wall,reliably absorb to wall surface,and dramatically reduce the shock and vibration while climbing over welding line.