Abstract：The paper drew a three-dimensional model of the waist mechanism of lower limb rehabilitation
robot. And the kinematics modeling and calculation of the waist mechanism was also carried out. In the
meantime, the kinematical simulation of the waist mechanism was made by using ADAMS (Automatic
Dynamic Analysis of Mechanical Systems) so as to obtain the waist mechanism simulation curve. It was
showed that the structure design of the waist mechanism could satisfy the movement rule of lower limb
rehabilitation training for the waist to realize the position control of the waist through the analysis of the
simulation curve. Also, the rationality of structure design of the waist mechanism was verified.
