In order to improve the rehabilitative effect of users’ recovery training and reduce the production cost of rehabilitation institution, this paper designs an aid walking mechanism for a lower limb rehabilitation robot which achieves the movement of transmission by use of the interrelationship between hip and knee. Using single chip micyoco(SCM) control technology to achieve the coordinated operation of the entire mechanical institution, this aid walking mechanism simulates the walking gait. Besides, this paper also verifies that materials’ strength meet the design requirements by Solidworks simulation stress-strain analysis module. In order to improve the rehabilitative effect of users’ recovery training and reduce the production cost of rehabilitation institution, this paper designs an aid walking mechanism for a lower limb rehabilitation robot which achieves the movement of transmission by use of the interrelationship between hip and knee. Using single chip micyoco (SCM) control technology to achieve the coordinated operation of the entire mechanical institution, this aid walking mechanism simulates the walking machinery module.