Abstract: To optimize the design of seabed tracked vehicle, the influence of seabed soft sediment between the track plate and track shoe on the adhesion performance of seabed tracked vehicle was analyzed. The adhesion mechanism between seabed tracked vehicle and seabed soft sediment was analyzed and adhesion mechanics model was established. The effect of the physical and mechanical properties of seabed soft sediment and the material properties of track plate and track shoe on the adhesion performance was researched theoretically. Physical and mechanical properties of seabed soft sediment and the material properties of track plate and track shoe had affacts on the adhesion. Distribution of the sediment in the chain link along the forward direction was gradually reduced. The grounding pressure and additional weight increased by 25%. The largest effect on the adhesion was cohesive force, followed by driving force and internal friction force and friction could be neglected. The proportion of the former two were respectly 40.6% and 33.8%. The effective shear height of track shoe was lower, which greatly reduced the adhesion performance, and the hight of track shoe should be designed to be 15 cm. The adhesion performance of the seabed tracked vehicle soft seabed sediments is decreased due to the soft sediment adhered to its tracks.