A nonanthropomorphic exoskeleton robot designed is mainly successively wired in series by a seat, a hip joint, a thigh, a knee joint, a leg, an ankle and a shoe, which is driven by an electric motor. The structure of the lower limb exoskeleton was analyzed and its degrees of freedom were distributed. According to the coordinate transformation, the D-H method was used to establish the kinematics model of the lower limb exoskeleton. The virtual prototype model of lower limb exoskeleton was established, and the kinematics simulation was carried out by using multibody dynamics simulation software ADAMS. The simulation results verify the rationality of the theoretical model, which laid the foundation for the later study of the exoskeleton.