Wrist　rehabilitation　robots　are　essential　for　assisting　patients　with　stoke　or　wrist　injuries.　Such　devices　compensate　for　deficiencies　in　manual　rehabilitation　training,　and　reduce　the　workload　of　rehabilitation　physicians.　A　parallel　wrist　rehabilitation　robot　(PWRR)　driven　by　two　pneumatic　actuators　is　developed　in　this　paper,　consisting　of　two　rotational　degrees　of　freedom　for　the　movements　of　flexion/extension　(F/E)　and　radial/ulnar　deviation　(R/U).　All　components　connected　to　the　forearm　or　the　wrist　adopt　an　open　structure　to　improve　the　wearable　convenience,　and　the　PWRR　is　suitable　for　most　patients,　especially　those　with　hypertonia.　To　determine　the　PWRR　range　of　motion,　the　physiological　motion　space　(PMS)　of　the　wrist　joint　in　autonomous　and　boundary　elliptical　movements　is　measured　with　the　help　of　a　VICON　motion　capture　system.　The　PMS　in　boundary　motions　processes　an　elliptical　shape,　and　the　ulnar　deviations　occupy　the　most　range　of　motion.　The　theoretical　workspace　(TWS)　of　PWRR　is　then　calculated　and　designed　based　on　the　kinematic　model　and　the　distribution　characteristics　of　PMS.　In　addition,　two　indices　are　introduced　to　evaluate　the　kinematic　performance　of　PWRR.　A　PWRR　prototype　is　developed　based　on　the　optimal　geometrical　parameters　and　detailed　structures.　Its　effective　workspace　(EWS),　which　has　more　clinical　significance,　is　acquired　by　measuring　the　F/E　and　R/U　movements　during　autonomic　movements.　The　EWS,　is　smaller　than　TWS　due　to　the　physical　structure,　volume,　and　interference　of　mechanical　elements.　Besides,　EWS　can　nearly　encircle　PMS,　and　satisfies　all　single-axis　rehabilitations　and　compound　motions　of　the　wrist　complex.　The　two　indices,　motion　isotropy　d(a)　and　condition　number　kappa,　within　TWS　change　smoothly　with　no　mutation,　suggesting　that　PWRR　is　sufficiently　kinematically　isotropic,　and　has　no　singularity　configuration.　The　analysis　shows　that　the　developed　PWRR　can　be　applied　widely　in　the　wrist　rehabilitation.　(C)　2019　Elsevier　B.V.　All　rights　reserved.