Abstract: This paper introduces the design of a tower-climbing robot aimed at climbing steel towers on power transmission lines. Considering the asymmetry and uneven distribution of the towers, a tower-climbing robot with a clamp arm and three grippers was designed. The robot uses an STM32 microcontroller as the control core and runs RT-Thread OS to support multi-threaded operations. The motor control employs PWM output, and the PWM program uses a PID control algorithm for closed-loop control. The PID algorithm is used to adjust the system output, employing position-based PID control.