Main arm stretching configuration variable obstacle crossing mechanism

The invention aims to provide a main arm stretching configuration variable obstacle crossing mechanism. The mechanism comprises a main arm, a planet wheel, a main arm driving motor, an auxiliary arm, an auxiliary support wheel, an auxiliary arm driving motor, a first driving wheel, a second driving wheel, a first driving wheel driving motor, a caterpillar and a caterpillar frame, wherein the planet wheel is arranged on the main arm; the main arm is connected with the caterpillar frame through the main arm driving motor; the first driving wheel and the second driving wheel are arranged at the two ends of the caterpillar frame; the auxiliary support wheel is arranged on the auxiliary arm; the auxiliary arm is connected with the caterpillar frame through the auxiliary arm driving motor; the auxiliary arm driving motor is connected with the second driving wheel; the first driving wheel driving motor is connected with the first driving wheel; and the caterpillar is wound on the planet wheel, the first driving wheel and the second driving wheel. Different function application can be realized by embedding different control modules, and the mechanism has high developability and a wide application prospect.