This study presents a six-degree-of-freedom upper limb rehabilitation robot for stroke patients. This research efforts to design an ergonomic and lightweight upper-limb rehabilitation robot that produces a variety of perceptually rich training scenarios. The mechanical and kinematic design of the proposed upper limb rehabilitation robot is presented. For a given trajectory, the positions of the end effector and joint angles are also computed to analyze and evaluate the overall design. The prototype of the proposed upper limb rehabilitation robot is also presented that will be used in the future on stroke patients.