The invention discloses a flexible transmission upper-limb exoskeleton robot for wearing, relates to a robot for wearing, and aims to solve such problems as low rigidity and weak loading capacity due to an upper-limb exoskeleton robot belonging to a serial connecting structure and caused incapability of safe and reliable life assistance for weak people. A wrist joint mechanism comprises a wrist joint driving fixed wheel, a human body palm fixed piece, a wrist joint moving wheel connecting piece, a wrist joint planet gear, a wrist joint driving rod, a wrist joint driving rod power input wheel, an exoskeleton front arm, an L-shaped connecting piece and a wrist joint steel wire rope; an elbow joint mechanism comprises an elbow joint planet gear, an elbow joint planet gear support frame, a first elbow joint driving fixed wheel, a second elbow joint driving fixed wheel, an elbow joint connecting upper arm frame, a U-shaped frame body and an elbow joint steel wire rope; and a shoulder joint mechanism comprises a shoulder joint planet gear, a shoulder joint driving fixed wheel, an exoskeleton support piece, a jack component, a shoulder joint driving fixed wheel connecting plate, a shoulder joint driving piece, an exoskeleton upper arm, a shoulder joint steel wire rope and an exoskeleton upper arm connecting shaft. The flexible transmission upper-limb exoskeleton robot for wearing is applied to the field of robot operation.