Elbow wrist rehabilitation robot connected in series and parallel

An elbow wrist rehabilitation robot connected in series and parallel is mainly composed of a big arm supporting seat, a wrist supporting seat, three electric cylinders which are connected with the big arm supporting seat and the wrist supporting seat and a wrist rotary part, wherein one end of the U-shaped big arm base is connected at one end of one of two upper electric cylinders, the other end of one of the two upper electric cylinders is connected with the wrist supporting seat, one end of a lower electric cylinder is connected with the big arm supporting seat, the other end of the lower electric cylinder is connected with the wrist supporting seat, a big rotary wheel is installed on the wrist supporting seat, a small wheel is arranged on the outer side of the big rotary wheel, the big rotary wheel and the small wheel are connected through a synchronous belt, a servo motor is fixed on the wrist supporting seat and is fixedly connected with the small wheel, two hand portion adjusting bases with long adjusting holes are arranged on the big wheel, and two ends of a handle are fixed on the hand portion adjusting bases through two tightening screws. The elbow wrist rehabilitation robot connected in series and parallel is simple and compact in structure, low in cost, safe, reliable, comfortable, and also suitable for a left arm and a right arm. Movements with various freedom degrees are mutually coupled, so that the elbow wrist rehabilitation robot connected in series and parallel is easy to control.