Through design and research of four crawler dual-arm walking mechanism of rescue vehicle, this paper has analyzed the obstacle navigation theory, ensure the center of mass in every working state and draw a clear relationship between working condition and design parameters of four crawler dual-arm walking mechanism’s crawler. By doing research on kinetics of forward and reverse climbing over obstacle of crawler walking mechanism, designing the four crawler dual-arm walking mechanism, and then fixing parameters of the arms, the problem of climbing over obstacles underground has been solved well. Finally, the three - dimensional diagram of its elevation and swing angle relationship has been simulated using MATLAB software.