Abstract
This paper presents a 3-UPU spatial parallel mechanism for the rehabilitation of hip joint which can be broadly used in the rehabilitation robot, although the hip medical rehabilitation robot is rarely usage today. This parallel mechanism has three rotational DOFs, and the rotation axes intersect at one point, so it's very suitable to implement the rehabilitation of the hip joint where has three rotational DOFs. This paper analysis the characteristics and movement mechanism based on the screw theory, provides a new method to research the parallel mechanism.