Six-degree-of-freedom upper limb rehabilitation exoskeleton

The six-degree-of-freedom upper limb rehabilitation exoskeleton comprises a base and a stand column fixedly connected to the top face of the base, one side of the top end of the stand column is rotationally connected with a passive degree-of-freedom unit, and the tail end of the passive degree-of-freedom unit is connected with a shoulder joint degree-of-freedom unit. The bottom end of the shoulder joint freedom degree unit is fixedly connected with an elbow joint freedom degree unit, the bottom end of the elbow joint freedom degree unit is fixedly connected with a wrist joint freedom degree unit, and the wrist joint freedom degree unit comprises a wrist joint inward and outward rotation assembly, a wrist joint flexion and extension assembly and a wrist joint adduction and abduction assembly. A double-cam metamorphic mechanism and a novel clutch are adopted to be matched with a planetary gear train, six-degree-of-freedom control is achieved through four driving motors, driving is conducted through Bowden ropes