As　the　population　ages,　increasingly　more　individuals　experience　ankle　disabilities　caused　by　stroke　and　cerebral　palsy.　Studies　on　parallel　robots　for　ankle　rehabilitation　have　been　conducted　under　this　circumstance.　This　paper　presents　a　novel　parallel　ankle　rehabilitation　robot　with　the　key　features　of　a　simple　configuration　and　actuator　nonredundancy.　The　mechanical　design　is　determined,　and　a　prototype　is　built.　Additionally,　inverse　position　solution　is　addressed　to　calculate　the　workspace　of　the　parallel　robot.　Jacobian　matrices　mapping　the　velocity　and　force　from　the　active　joint　space　to　the　task　space　are　derived,　and　kinetostatic　performance　indices,　namely,　motion　isotropy,　force　transfer　ratio,　and　force　isotropic　radius　are　defined.　Moreover,　the　inverse　dynamic　model　is　presented　using　the　Newton-Euler　formulation.　Dynamic　evaluation　index,　i.e.,　dynamic　uniformity,　is　proposed　according　to　the　derived　Jacobian　matrix　and　inertia　matrix.　Based　on　the　workspace　analysis,　the　parallel　robot　demonstrates　a　sufficient　workspace　for　ankle　rehabilitation　compared　with　measured　range　of　motion　of　human　ankle　joint　complex.　The　results　of　the　kinetostatic　and　dynamic　performance　analysis　indicate　that　the　parallel　robot　possesses　good　motion　isotropy,　high　force　transfer　ratio,　large　force　isotropic　radius,　and　relatively　uniform　dynamic　dexterity　within　most　of　the　workspace,　especially　in　the　central　part.　A　numerical　example　is　presented　to　simulate　the　rehabilitation　process　and　verify　the　correctness　of　the　inverse　dynamic　model.　The　simplicity　and　the　performance　of　the　proposed　robot　indicate　that　it　has　the　potential　to　be　widely　used　for　ankle　rehabilitation.