Provided are a support rehabilitation training robot and an operation method thereof. The support rehabilitation training robot includes a crawler-type walking machine (1), a pedestal (2), a lifting lead screw mechanism, a manipulator and a counterweight mechanism. The manipulator includes a shoulder joint, a revolute joint, an elbow joint and a wrist joint. Each of the joints includes a motor (12, 15, 18), a harmonic reducer (14, 17, 23) and an output terminal. The support rehabilitation training robot and the operation method thereof can achieve rehabilitation training of the human hip with three linear degrees of freedom and two rotational degrees of freedom during the gait training process, which highly simulates the physiological movement of the hip in the gait training and effectively enhances the effect of rehabilitation training.
