To address patient discomfort caused by excessive contact and friction between the capsule robot and GI (gastrointestinal) tract, SCR (spherical capsule robot) capable of fixed-point suspension in the human GI tract and a corresponding maglev actuation platform were proposed. The mechanism of fixed-point suspension of the SCR was analyzed. Using COMSOL simulation software, the distribution pattern of magnetic field lines, as well as the variation pattern of magnetic flux density of the stator permanent magnet of the maglev actuation platform in three-dimensional space, were obtained. Based on the magnetic Coulomb's law and the equivalent magnetic charge method, a suspension force model for the SCR at the center of the maglev actuation platform was established. This model was then used to determine the variation pattern of the suspension force with levitation height, and the influence of the platform's structural parameters on the suspension force were analyzed. A magnetic levitation experimental platform and a suspension force measurement device were set up to verify the feasibility of the SCR suspension scheme through experiments. By comparing the measured data, simulation data and model calculation results, the three are in good agreement. The magnetic levitation spherical capsule robot system proposed in this study offers a novel motion solution for magnetically driven capsules, which is expected to address the issues of excessive contact and friction between the capsule and the GI tract.