In order to solve the problems of trafficability, stability and safety of home use of rehabilitation robot, a home lower limb rehabilitation training robot based on ergonomics theory is designed. By analyzing the motion posture of stroke patients and combining with the motion characteristics of the rehabilitation robot, the design scheme of a new type of follow-up lower limb rehabilitation robot with modular structure is proposed.The mechanical analysis of the possible rollover of the rehabilitation robot is focused on, and the stability judgment criterion of the robot is given. Through the virtual prototype simulation, the offset of the center of gravity of the robot is analyzed, and the simulation and prototype test are carried out.The results show that the robot has reliability and stability, and has application value.