The suckers controlling distributor was designed for the aircraft skin detection robot based on the strategy of actuator control matrix switching. The stability and flexibility are critical for the robot’s curvature adaptive attitude control.A controlling distributor was designed to improve the stability and flexibility of robot by controlling the output of the vacuum system.First, the control allocation matrix of the controlling distributor was established based on the force analysis to the robot structure model, and thus the controlling distributor was designed.Then, considering the possible failure of the sucker system, the strategy of changing the priority of the suckers was used to change the weighting coefficient value of corresponding sucker. Actuator control matrix switching strategy was designed based on the mathematical model of suction safety gain.The improved redistributed pseudo inverse algorithm was used to solve the saturation problem and finally controlling simulations and tests were carried out to prove the feasibility of the distributor.