The invention relates to a mechanism arm with a frame-type extension arm. The mechanism arm comprises a supporting arm, a wrist raising mechanism, a wrist rotation mechanism and a grasping mechanism, wherein the wrist raising mechanism comprises an expansion link hinged on the supporting arm, and the front end of the expansion link is connected with the base of a wrist through a first connecting rod; the wrist rotation mechanism comprises a wrist rotation control motor fixed on the wrist base, and the wrist rotation control motor is engaged with a connecting shaft gear on the wrist base through a driving gear; and the grasping mechanism comprises a grasping control motor fixed in the connecting shaft gear, the grasping control motor is in butt joint with a lead screw, the lead screw is provided with a nut, a connecting disk is fixed on the connecting shaft gear, a finger mechanism is hinged on the connecting disc, and a second connecting rod is hinged between the finger mechanism and the nut. According to the mechanical arm with the frame-type extension arm, more complex grasping movement in a larger space range can be achieved, and the movement is stable and accurate.