In view of the shortcomings of the existing upper limb rehabilitation training robot, such as the low function integration and the complex structure, a 6DOF wearable upper limb rehabilitation training robot was designed. The dimensional model of robot was built by SolidWorks and was imported into ADAMS for kinematics simulation by the model exchange interface provided by ADAMS/View. Based on the D-H method, the forward kinematics model of the robot was established, and the kinematics simulation and workspace simulation analysis of the robot were carried out by MATLAB. The obtained simulation curve of robot end effector trajectory is consistent with the theoretical curve. The accuracy of the robot kinematics equation is verified. The workspace simulation results show that the scheme is reasonable.