To realize the stability of the passive magnetic robotic system, a novel combination of permanent magnets is proposed. As we know, a single passive magnetic levitation is impossible to suspend all degrees of freedom of a rigid body; this article researches the combination of multiple passive magnetic bearings by the finite element method (FEM) simulation. Through changing the magnetization direction of permanent magnets, the radial force and axial force can be changed correspondingly. Various magnetization angles of permanent magnets are analysed, and the relationships are analysed among radial force, axial force, and axial displacement. Finally, the optimized magnetization angle of the permanent magnets and their arrangements are proposed. According to the analytic results, it is feasible to realize the stability using the proposed configuration.