This　paper　proposes　a　novel　ankle　rehabilitation　robot.　The　proposed　robot　is　composed　of　a　series　mechanism,　three-branch　parallel　mechanisms　and　a　supporting　bracket.　The　simulation　and　verification　of　the　proposed　robot　with　a　human　ankle　model　were　carried　out　in　the　human　modeling　and　simulation　software　system.　And　the　comparison　and　analysis　of　the　feasibility　and　the　validity　for　the　proposed　ankle　rehabilitation　robot　were　further　discussed.　The　simulation　results　confirm　this　proposed　rehabilitation　robot　can　satisfy　the　ankle　rehabilitation　requirements.