Purpose　The　purpose　of　this　paper　is　to　implement　a　passive　compliance　training　strategy　for　our　newly　designed　2-UPS/RRR　parallel　ankle　rehabilitation　robot　(PARR)　to　enhance　its　rehabilitation　training　safety.　Design/methodology/approach　First,　a　kinematic　analysis　of　the　PARR　is　introduced,　and　the　mechanism　ensures　that　the　rotation　centre　of　the　ankle　joint　complex　(AJC)　coincides　with　robot＇s　rotation　centre.　Then,　a　passive　compliance　training　strategy　based　on　admittance　control　is　described　in　detail　and　is　implemented　on　our　PARR.　Findings　Experiments　involving　healthy　subjects　were　conducted,　and　the　performance　of　trajectory　tracking　was　quantitatively　evaluated,　with　the　results　showing　excellent　compliance　and　trajectory　tracking　accuracy,　which　can　ensure　that　a　secondary　injury　to　the　AJC　during　passive　rehabilitation　training　is　avoided.　The　influence　of　different　admittance　parameters　was　also　simulated　and　analysed,　which　can　contribute　to　the　development　of　adaptive　parameter　adjustment　research.　Originality/value　The　paper　can　be　used　to　improve　the　effectiveness　of　ankle　rehabilitation,　to　alleviate　manual　therapy　problems　in　terms　of　labour　intensiveness,　precision　and　subjectivity　and　to　ensure　safety　and　comfort　during　rehabilitation　sessions.