In the design of robotic manipulators, achieving dexterity within a large workspace along with structural lightness remains a significant challenge. Conventional industrial robots, including serial and parallel robots, suffer from a trade-off between weight and workspace dexterity. In contrast, cable-driven parallel robots (CDPRs) offer excellent lightweight performance and a large workspace. However, their applicability is limited because their workspaces are constrained by surrounding frames. This paper is related to a 6-DOF manipulator that integrates an articulated manipulator with a CDPR. The end effector is a platform whose orientation is directly controlled by four cables, enabling 6-DOF motion with a lightweight structure. The manufactured prototype and architecture, as well as mechanisms involved in the efficient transmission of cable tensile forces, are detailed. The forward kinematics is analyzed, and the numerical solution using the Newton–Raphson method is reviewed. Simulations are conducted to validate the solution and confirm its feasibility. Furthermore, a position control method that incorporates platform statics is introduced. Experimental results confirm the trajectory tracking performance in both translational and orientational motions.

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