脑卒中和其他原因导致下肢运动障碍患者数量增多，科学的康复训练是降低致残率的有效手段，而康复医师严重不足是当前的主要矛盾，改善和提高上述患者的生活质量既是患者的需求，也是亟需解决的社会问题。针对下肢运动障碍患者在不同康复阶段的训练需求，提出一种串并混联结构的下肢康复机器人，该机器人包括两个(UPS-UPU-U)＆RR结构的4DOF机械腿、连接架和座椅，患者可坐、躺和站三种姿势进行康复训练。建立该机器人的三维模型，并对其具体结构进行详细介绍，基于螺旋理论对该机构自由度进行分析，建立矢量约束方程对其运动学正反解进行分析，结合ADAMS软件，仿真验证了对该机构自由度和运动学理论分析的结果。该研究成果为今后样机的研制奠定了理论基础。

It’s a hot potato in social problem that there are large number patients with disabilities and fewer doctors. accident or other disease are the leading cause of disability. In order to reduce the disability rate,improve the quality of life,meet the needs of patients,a new type lower limb rehabilitation robot is presented. The robot is made up of attachment bracket,a seat and two 4 DOF mechanical legs which is based on series-parallel hybrid mechanics (UPS-UPU-U)&RR. It has three training models as standing,lying and sitting. It can meet the needs of patients at different stages of rehabilitation training. The kinematics and DOF of the robot are analyzed by constructing vector constrain equation and screw theory. The analysis result is verified by the software ADAMS. This result lays the foundation for making prototype in the future.