本文阐述了一种新型下肢训练康复机器人的机械结构设计和其轨迹控制系统设计。该机器入主要用于增强由于运动损伤造成的神经损伤病人或缺少行走能力的老年人的步行行走能力。本文重新设计并改进了下肢康复训练机器人机械结构及其控制系统。该机器人采用新型的全向移动平台机构,可以实现沿平面内任意方向运动。本文采用虚拟样机技术手段进行机械结构设计,建立基于Pro/e和ADAMS精确的机器人虚拟数字样机,并对机械模型的建模过程和模拟参数做了详细介绍、 This article describes a new type of lower limb training and rehabilitation robot mechanical structure design and trajectory control system design. The machine is mainly used to enhance the walking injury of the elderly due to motor injury or lack of walking ability. This paper redesigns and improves the mechanical structure of lower limbs rehabilitation training robot and its control system. The robot uses a new omni-directional mobile platform mechanism that can be moved in any direction along the plane. In this paper, the virtual prototyping technique is used to design the mechanical structure, and a precise robot virtual digital prototype based on Pro / e and ADAMS is established. The modeling process and simulation parameters of the mechanical model are introduced in detail.