Abstract: Since optical reference line method for high-capacity metrology are characterized by high work intensity, significant risk factors, low accuracies and other drawbacks, and with consideration to currently available technologies related to wall-climbing robots, researches include compositions of mechanical structure, control mechanism and software design are conducted for development of high-capacity radial deviation metering robot. As far as mechanical structures are concerned, researches are performed for design of absorption, driving, transmission, spanning and sensing mechanisms. The developed prototype of the high-capacity radial deviation metering robot has been applied in the capacity metrology of vertical metal tanks. On-site applications show that this new device can effectively enhance operation safety, minimize work intensity of relevant operators without sacrificing metering accuracy.