Three-degree-of-freedom forearm rehabilitation exoskeleton robot

The invention provides a three-degree-of-freedom forearm rehabilitation exoskeleton robot which is used for helping a stroke patient to recover the movement function of a forearm. The robot is composed of a rack, an upper arm component, a front arm component and a wrist component. The upper arm component comprises a first joint used for controlling buckling and stretching movement of the shoulder. The forearm component comprises a second joint used for controlling the bending and stretching movement of the elbow; the wrist part comprises a third joint, and the forward and backward rotation movement of the wrist is controlled through a parallelogram mechanism. The first joint and the second joint adopt a planetary gear speed reduction mode and a winch speed reduction mode to provide larger torque so as to enhance applicability and reliability. The parallelogram mechanism and the transmission are combined to form a double-parallelogram mechanism, the problem that man-machine movement is not coordinated is solve