Working method of upper limb rehabilitation robot

The invention provides a working method of an upper limb rehabilitation robot, which comprises the following specific steps: (1) determining that a big arm internal rotation and external rotation mechanism is fixedly connected to a suspension of a rack, and when big arm internal rotation and external rotation need to be carried out, the big arm internal rotation and external rotation mechanism realizes big arm internal rotation and external rotation movement; (2) when the large arm is required to be retracted and extended, the large arm retraction and extension mechanism realizes the large arm retraction and extension movement; (3) when the upper swing and the lower swing of the big arm need to be carried out, the upper swing and lower swing mechanism of the big arm realizes the up-and-down swing movement of the big arm; (4) when the forearm is required to be retracted and extended, the forearm retraction and extension mechanism realizes the movement of retraction and extension of the forearm; and (5) when th