A permanent magnetic and vacuum mixed adsorption wall-climbing robot for ship rust removal is designed, which has the characteristics as big loading and weight robot body, and there is water jet kick and vacuum negative pressure force in normal direction of wall surface. The static models for glide and tip back are established. According to the three forced states in normal direction of wall surface, the glide and the tip back models are analyzed, and the forced state of permanent magnetic unit between glide and tip back are compared. Simulation and experimental results show that the vacuum negative pressure force improves the adsorption capacity obviously, the permanent magnetic and vacuum mixed adsorption may reduce the adsorption force greatly, and in the robot normal work, the robot can attach the wall in low vacuum negative pressure.
