Abstract: In the current application of robots, the robot system is required to have a high adaptability to unstructured environment. In this paper, a hexapod robot with eccentric wheels was studied, and its basic mechanical structure was introduced. The motion model and mechanical constraints of the hexapod robot when climbing a slope were established based on the stable cone method. A wave-like climbing gait was designed. The most easily overturning posture of the robot in this motion mode was analyzed. Combining with its mechanical structure characteristics, the stability of the robot was verified by using the stable cone method. The critical slope angle of the robot during climbing was obtained and verified by simulation and physical experiments. In this mechanical structure and the use of the corresponding climbing gait, the robot can have better climbing performance. The maximum stable climbing angle of the robot can be measured in the experimental environment to be about 33 degrees.