中文摘要：

目前投入临床使用的医疗用康复机器人种类并不多，而在实际推广中成功的少之又少。它们有助于患者肢体的康复，但是却在机构设计、模块化设计等方面或多或少存在着一些缺点。借鉴国内外下肢康复仪器的优点，从分析人体下肢解剖学人手，设计了一种基于并联机构原理的新型下肢康复机器人。参照人体下肢基本尺寸，对康复机器人的整体结构进行了三维建模并进行了运动学分析。同时，运用软件对康复机器人进行了工作空间的分析和运动学仿真，确保了康复机器人结构设计和控制上的可行性。该设备结构简单，工作空间相对较大，同时能够根据不同人群调整设计参数，适应性强，对下肢康复的研究有着积极作用。

英文摘要：

Up to now, there are only several kinds of therapy robots used in the clinic application. And there are still fewer that are successful in their popularization. They are helpful for the rehabilitation of the patients＇ limbs, but also have several drawbacks in the mechanism design, modularized design and so on. Based on the existing leg rehabilitation instruments and the anatomy of human＇ s leg, a new kind of leg rehabilitation robot is designed based on parallel robot theory. Referring to the limb＇ s basic size, we structured it with 3D software and made the kinematical analysis of each part. To ensure the feasibility of its structural design and its control, we analyzed the robot＇ s workspace and processed the kinematical simulation. This device has very simple structure and relatively large workspace, and its design parameters can be adjusted for different people. It has a positive function to the research of limb rehabilitation.