Abstract: A climbing robot with 11 degrees of freedom has been designed to meet the needs of high-altitude operations on transmission towers. The robotic manipulator's gripper is designed by combining a lateral clamping mechanism and a forward clamping mechanism. This design enables reliable four-directional clamping of angle steel and ensures precise gripping of the upper surface of the angle steel, thus meeting the requirement for the robot to climb freely at any position on the transmission tower. Based on the ADAMS simulation environment, through a scripted simulation method, the linear walking of the robot on the upper surface of the angle steel, the striding and turning movements between angle steels of different sizes, as well as the flipping movement, have been simulated. The research results provide a theoretical basis and technical support for the climbing robot on transmission towers to carry out high-altitude operations.