Through the analysis of the working environment analysis of transmission tower climbing robot,a transmission tower climbing robot is developed.The overall structure of the robot was included of upper arm, lower arm, upper claw and lower claw. The structure was simple so that the reliability and working efficiency of the robot was improved.The claw was combined of an electromagnetic adsorption and two degree of freedom (2DOF) redundant gripper in structure, so as to make the robot clamps rapidly and steadily. The design process of the electromagnetic adsorption part was introduced in detail.Furthermore, the climbing gait and obstacle negotiation gait of the climbing robot were analyzed in order to verify the rationality of the robot gait. The results show that the robot can climb the transmission towers instead of power workers, thus reducing the working risk of power workers and improving the work efficiency, with practical and promotional value.