This　paper　mainly　introduces　a　variable　crawler　robot　based　on　the　triangular　configuration,　and　analyzes　its　obstacle　mechanism.　With　the　control　variable　method,　it　focuses　on　the　obstacle　mechanism　of　the　crawler　robot　and　the　change　of　the　center　of　gravity　during　the　obstacle　crossing　process.　In　addition,　the　three-dimensional　modeling　of　the　overall　structure　of　the　crawler　robot　is　also　carried　out,　and　the　stiffness　of　the　key　mechanism　is　checked　to　verify　the　feasibility　of　the　scheme　design.　It　can　provide　some　reference　value　for　those　who　study　the　crawler　robot.　©　2019　IEEE.