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The adsorption parameters of traditional wall-climbing robots have the problem of synchronization asymmetry, which leads to a decrease in the accuracy of output control of the adsorption control system of wall-climbing robots, which affects the overall control effect of the robot. In order to solve the problem of asymmetry of the adsorption parameters of the wall-climbing robot, a design of the adsorption control system of the wall-climbing robot based on D-H parameters is proposed. Using D-H parameters to design a wall-climbing robot adsorption control system based on D-H parameters. Based on the characteristics of DH parameters, the overall framework of the system is designed. The framework is divided into two parts: hardware and software; the hardware mainly uses the dynamic gyroscope controller to control the processing instruction data to complete the processing module design; realize the control through the wireless control remote sensor KJ-F6000X-T6 Modular design. The software part uses algorithms related to D-H parameters to design the control program. The experimental comparison data shows that the proposed design system has the symmetry of the adsorption parameters of the synchronous wall-climbing robot, and the effect of improving the output accuracy of the system control variables.