Three-degree-of-freedom wrist rehabilitation training robot based on hybrid rope transmission and implementation method thereof

The invention relates to the field of medical rehabilitation training instruments, in particular to a three-degree-of-freedom wrist rehabilitation training robot based on hybrid rope transmission and an implementation method of the three-degree-of-freedom wrist rehabilitation training robot based on hybrid rope transmission. The power unit is installed on the lower layer of the machine frame, the transmission unit is sequentially connected with the power unit, and the execution unit is installed on the upper layer of the machine frame. Compared with existing hand rehabilitation training equipment, the position of the hand relative to the rotation center can be adjusted, and the coupling motion trail of a single degree of freedom or two degrees of freedom or three degrees of freedom of the wrist can be achieved; the wrist movement range and the resistance can be adjusted, namely, passive, assisted and active rehabilitation training requirements can be met, torque and position sensors can be conveniently arrang