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分析了一种永磁吸附履带式船舶爬壁机器人结构及工作原理。通过交流伺服电机驱动的永磁吸附履带机构使机器人能完成垂向爬壁的运动功能。为提高机器人的负载能力和越障能力，结构上采用了新型的永磁万向轮辅助吸附机构和从动轮浮动机构。研究中分析了永磁吸附履带爬壁机构的力学状态。通过对吸附系统的磁力仿真及磁力实验分析，合理设计了永磁吸附履带爬壁机器人吸附单元结构形式和电力驱动系统参数。“,”The structure and working principle of a kind of permanent-magnet adsorption tracked wall-climbing ro-bot used in ship was analyzed in this paper. The robot can complete vertical climbing wall function when perma-nent-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-mag-netic adsorption tracked climbing mechanism was analyzed. Through the magnetic simulation and experimental a-nalysis of magnetic adsorption system,the adsorption unit structure and electric drive system parameters of the permanent-magnet tracked wall-climbing robot were reasonably designed.