<p>A 3-S<Emphasis Type="Underline">P</Emphasis>S/<Emphasis Type="Underline">R</Emphasis>U^*R parallel ankle rehabilitation robot is proposed, featuring a sufficient distance adjustment mechanism that enhances adaptability to various ankle sizes, accommodating diverse rehabilitation needs. The design of this robot was based on the principle of locking joints and generalizability. The degrees of freedom of all motion modes were verified using Blanding’s law. Forward and inverse kinematics were calculated using the D-H parametric method and the closed-loop vector method, respectively. Based on these calculations, a dual ankle-centered rehabilitation trajectory was proposed. The mechanism workspace was solved using numerical iteration, and the kinematic performances were calculated using the degree of manipulability. Furthermore, biomechanical parameters were solved by integrating the AnyBody modeling system with AnyBody, and comparative experiments of sufficient distance adjustment were conducted. The results showed that the dual ankle-centered mechanism with sufficient distance adjustment effectively extended the workspace, exhibited robust kinematic performance, and showed notable advantages over insufficient distance adjustment during passive rehabilitation and plyometric rehabilitation. The results of this study provide a basis for improving the distance adjustment functionality of the dual ankle-centered structure.</p>