The invention discloses an upper limb rehabilitation training robot. The upper limb rehabilitation training robot comprises a pedestal, an ergonomic seat, a rehabilitation mechanical arm and a man-machine interaction control cabinet, wherein the pedestal is provided with a height adjusting mechanism and a transversing mechanism; the transversing mechanism is provided with a suspending arm; the rehabilitation mechanical arm comprises a shoulder abduction/adduction joint, a shoulder bending/stretching joint, an upper arm, an elbow joint, a front arm inward turning/outward turning joint, a front arm, a wrist bending/stretching joint, a palm and fingers, wherein the shoulder abduction/adduction joint is arranged on the suspending arm; the shoulder bending/stretching joint is connected with the shoulder abduction/adduction joint; the front arm is connected with the upper arm by the elbow joint and provided with the front arm inward turning/outward turning joint; the palm is connected with the front arm by the wrist bending/stretching joint and connected with the fingers by a connecting rod; the upper arm, the front arm and the palm are fixedly connected with three force sensors; and the sensor fixedly connected to the upper arm is a two-dimensional sensor. The robot provides composite rehabilitation motion for each joint of the upper limb of a patient in a three-dimensional space and can finish the rehabilitation training of the upper limb with high quality.