<p>Rehabilitation robots have become essential in modern healthcare. A significant challenge for the lower-limb rehabilitation robots is providing adequate weight support and maintaining balance throughout the rehabilitation process. This study addresses this challenge by introducing a cable-driven robot, which includes dynamic modeling and software simulation. The design of this cable-driven rehabilitation robot comprises two main components: a balance maintenance system and a lower limb mechanism. The balance system utilizes a harness controlled by eight cables to ensure patient stability, while the twelve-cable lower limb mechanism facilitate gait correction and leg rehabilitation exercises. The kinematic and dynamic equations for the proposed robot are derived, yielding outputs such as cable lengths, forces, joint angles, and torques. These outputs are validated through simulations in ADAMS and CASPR, demonstrating 100% match for kinematic outputs and 99.92% accuracy for dynamic outputs in the balance system. In balance rehabilitation, the robot's workspace was assessed based on the configurations of the cable endpoints, selecting a configuration that effectively encompasses the workspace required for patient balance. For the lower limb robot, joint torques at the ankle, knee, and hip demonstrated a 99.96% correlation with ADAMS outputs, while cable forces achieved a 99.94% correlation with CASPR results. These findings validate the model's accuracy, supporting its application in developing a controller for maintaining patient balance and facilitating lower limb rehabilitation. By integrating the balance and lower limb models, a comprehensive rehabilitation robot is introduced that maintain the patient's balance in 6DoF, and enables effective lower limb rehabilitation across various paths.</p>