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A 3D model of an assistant robot, based on analysis to human walking movement, is set up by software UG at first, then the model is putted into ADAMS. Secondly, practical geometric parameters, physical characteristics and restriction relations are adopted to establish its kinematics model. Thirdly, kinematics simulations to this assistant robot system are carried out by utilizing ADAMS, and its kinematics performances are analyzed also. Simulation experiments show that the modeling method is efficient and it provides an effective platform for researching on the assistant robot system.