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　mathematical　modeling　for　kinematic　characteristics　analysis　for　the　proposed　robot　is　given.　The　function　relationships　between　the　rotating　angle　of　the　moving　platform　and　the　output　of　the　actuators　are　obtained.　The　curves　of　the　output　rule　of　the　actuators　also　show　the　inverse　solution　of　the　proposed　robot.　Based　on　the　relationship　the　output　of　the　actuators　can　be　set　to　meet　required　angle　of　the　moving　platform　in　the　rehabilitation　processes.　©　Springer　International　Publishing　Switzerland　2016.