By improving the wall motion stability of the climbing robot, its engineering application ability could be enhanced. Aiming at the coupling characteristics of vibration and dynamics in the process of wall motion of the climbing robot, a climbing robot with flexible adsorption material is designed and fabricated in this article. Based on the rigid-flexible coupling principle, the kinematic recurrence relation between the rigid body and the flexible body is obtained. And the dynamic equation of the climbing robot is established by using the Lagrangian principle. A mathematical model of the degree of coupling of reaction kinetics is formulated. Through simulation analysis, it is found that the amplitude of the robot decreases by 35% by adjusting the ratio of acceleration and deceleration time under the same displacement during operation. The analysis shows that the rigid mass of the climbing robot and the elastic modulus of the adsorbent material increase within a certain range, and the degree of dynamic coupling reduces the climbing robot vibration response. Through the prototype experiment, the load capacity of the climbing robot and the stability of vacuum and flow in different movement stages are measured. The research provides the foundation for the driving control strategy and engineering application of the climbing robot.