The invention relates to an obstacle-crossing rescue robot based on parallel mechanisms. The obstacle-crossing rescue robot comprises a rescue stretcher, an ambulance chassis, six-DOF (degree of freedom) parallel mechanisms, four planet gears, a three-level damping clutch, four dampers and two illuminating lamps, wherein the rescue stretcher is located above the ambulance chassis; the six-DOF parallel mechanisms are located at the front end and the rear end of the ambulance chassis and connected with the rescue stretcher, limited assigned yielding motion and effective bearing of push rods relative to the ambulance chassis and the rescue stretcher can be realized, the support performance of the push rods can be effectively improved, and the reliability, the stability and the safety of the rescue stretcher are improved; the four planet gears are driving wheels at the ambulance chassis, the height of the ambulance chassis can be effectively increased, and an obstacle is crossed rapidly; the damping clutch is mounted at the rear end of the ambulance chassis; the four dampers are located below four corners of the rescue stretcher; the two illuminating lamps are located at the front end of the ambulance chassis and can be used for illumination at night, and the driving safety is improved.