Abstract: In the report, aiming at the problem of autonomous rehabilitation training for patients with upper limb dysfunction, based on the in-depth analysis of the study of existing rehabilitation robot, a 2 degrees of freedom upper limb rehabilitation robot based on pneumatic cylinder was proposed to simplify the mechanism and reduce the cost. Firstly, the whole model of upper limb rehabilitation robot was established based on SolidWorks, the D-H method was used to establish a coordinate system, the parametric equations of the system’s forward kinematics was obtained, and MATLAB was used to analysis the position of the end of the robot mechanism; Secondly, the Jacobi matrix was used to solve the speed of the end executor, and which was combined with ADAMS for the kinematics simulation analysis; Lastly, the static analysis was carried out on the supports of the lager arm and small arm. The results indicated that the upper limbs rehabilitation robot mechanism still can guarantee the feasibility of rehabilitation training after simplifying the structure, and provide a theoretical reference for the wide use of upper limb robot.