Aiming at the problem of rehabilitation training for shoulder joint sports injuries,an exoskeleton shoulder joint rehabilitation robot was designed by analyzing the movement mode of shoulder joint.The mechanical structure of the whole prototype of the robot was simply modeled and designed,and the instantaneous variability of the rotation center of the shoulder joint was solved.Then,the kinematics equation of the robot was deduced by D-H method,and the correctness of the kinematics equation was verified by MATLAB.Using the virtual prototype model established in ADAMS software,the kinematics and dynamics of the robot were simulated,and the relationship between angular velocity and time of each joint and the driving torque curve of each joint were obtained.By using Monte Carlo method,the position cloud picture of the robot end movement was calculated,and the movement range of the robot end was obtained.Simulation analysis verifies the feasibility of robot structure and the correctness of kinematics equation,which can achieve the purpose of rehabilitation.