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.