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This paper presents, for the first time, an energy system modeling and analysis method for a marine robot driven by wind, solar, and wave composite energy, using Yulang II as an example. First, an onshore experiment method was designed, and then the conversion experiment of wind, sunlight, and electrical energy was carried out based on that experiment method. At the same time, based on computational fluid dynamics technology, a resistance pole curve considering wave energy capture is constructed. In addition, the attitude, relative motion, and battery constraints of the robot in the ocean are analyzed to construct the energy system model of Yulang II. Finally, the method and model proposed in this paper were compared and verified by simulation and field tests. 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