The　ankle　rehabilitation　exoskeleton　is　a　critical　equipment　for　foot　drop　and　talipes　valgus　patients　requiring　extensive　and　repetitive　rehabilitation　training　to　make　up　deficiencies　of　the　manual　rehabilitation　training　and　reduce　the　workload　of　rehabilitation　physicians.　According　to　the　anatomical　structure　and　motion　characteristics　of　the　ankle,　an　ankle　rehabilitation　robot　with　2-UPS/RRR　configuration　has　been　proposed　and　developed　which　can　realize　the　approximate　coincidence　between　the　centers　of　the　ankle　and　the　rehabilitation　robot.　Meanwhile,　a　force/torque　information　collection　platform　is　constructed　to　improve　the　interactivity　among　the　robot,　patients　and　physicians.　The　kinematic　model　of　this　rehabilitation　robot　is　established.　The　corresponding　theoretical　workspace　is　obtained　through　solving　inverse　kinematics.　The　physiological　range　of　activity　of　the　ankle　is　accurately　measured　in　the　whole　movement　area　with　the　help　of　the　3-degree-of-freedom　of　the　prototype.　According　to　the　autonomous　motion　of　the　prototype,　the　effective　workspace　is　recorded　and　obtained.　The　effective　workspace　of　the　robot　is　less　than　the　theoretical　workspace.　Furthermore,　the　results　show　that　the　percent　of　contact　area　in　the　effective　workspace　and　the　physiological　range　can　reach　95%　and　the　rehabilitation　robot　can　provide　enough　space　for　the　injured　ankle.　Finally,　based　on　the　velocity　Jacobian　matrix　of　the　robot,　the　kinematic　performance　such　as　the　maneuverability　and　dexterity　is　acquired.　The　results　show　that　this　rehabilitation　robot　has　no　singular　position　and　processes　good　kinematic　performance　in　the　effective　workspace.　©　2019　Journal　of　Mechanical　Engineering.