The invention relates to a 2-SPU/RR parallel pneumatic wrist rehabilitation device. The device adopts a 2-SPU/RR parallel configuration, wherein the 2-SPU/RR parallel configuration mainly comprises two SPU branch chains, an RR branch chain, a forearm semi-ring, a base semi-ring, an arc-shaped supporting plate and supports; the SPU branch chains comprise ball pairs S, air cylinders and Hooke pairsU, and the RR branch chain comprises a flexion/extension semi-ring, a radial deviation/ulnar deviation semi-ring and a corresponding rotating shaft assembly. The lower portion of the base semi-ring isprovided with a bottom plate structure with a long-strip-shaped rectangular cross section, the forearm semi-ring is arranged on the bottom plate structure, and the front and rear ends of the base semi-ring are supported by the two supports together; the RR branch chain is arranged in the base semi-ring, the SPU branch chains connect the forearm semi-ring and the RR branch chain together, the arc-shaped supporting plate is arranged on the bottom plate structure of the base semi-ring, and the axes of the forearm semi-ring, arc-shaped supporting plate and base semi-ring coincide. The 2-SPU/RR parallel pneumatic wrist rehabilitation device has the advantages that the bearing capacity is strong, the structure is compact, the size is small, the range of motion is large, and all parts in contactwith the upper limbs of the human body adopt opening structures, thereby greatly improving the wearing convenience and comfort of patients.