The invention relates to a robot drive mechanism and specifically relates to a coupling drive mechanism of a deformable wheel track. The mechanism comprises a supporting device, a drive device, a sway arm device and a deformable track, wherein the drive device comprises a drive motor, a transmission device and wheel rings; the drive motor is installed on the supporting device; wheel rings are installed on two sides of the supporting device in a rotatable manner; the wheel rings are connected to the drive motor by the transmission device; wheel teeth meshed with the deformable track are disposed on the outer circumferential faces of the wheel rings; the sway arm device comprises a sway arm motor, a screw rod, slide blocks, connecting rods, sway arms and sway arm wheels; the sway arm motor is installed on the supporting device; an output end is connected to the screw rod; the slide block is in threaded connection to the screw rod; the sway arms are disposed on two sides of the slide block; one end of each sway arm is in hinged connection to the supporting device, and the sway arm wheel pressed against the deformable track is installed on the other end; and the sway arms are in hinged connection with the slide blocks by the connecting rods. The mechanism provided by the invention is characterized by a simple, compact and modularized structure, easy installation, small size, and light weight.