My children's father has on several occasion told both the children and I he is will to give up his rights as long as he is taken off child support. I have agreed to this and have had my lawyer draft up new stipulation only for him to change his mind.. He says he was to make sure that I never ask for it again.
Can he play these games with the kids. I feel like this is some type of emotional abuse for them. The kids do not like to spend their time with him. They are afraid of him.
Can a judge take his rights.

He can't give up his rights, only a court can terminate his rights. I'm surprised your attorney didn't explain that. And courts are very reluctant to do so. They are very unlikely to do so just to let him out of paying support.

Why should he be taken off child support if he is the father of the children ?