The traditional motion vice and rigid structure of the human upper limb complex joints between the forms of movement present significant challenges to ensuring consistency and addressing other problems. This paper proposes a 6-degrees-of-freedom cable-driven upper limb rehabilitation flexible parallel robot. The robot combines a flexible parallel mechanism with the advantages of light mass, good flexibility, and the ability to realize complex force position control. First, this paper examines the anatomy of human upper limb skeletal muscles. Second, a three-dimensional motion capture system is employed to obtain experimental data and to analyze the range of motion of the human upper limb. Finally, the structural design of the shoulder joint, elbow joint, and wrist joint is completed.