This study presents a novel cable-driven parallel robot integrated with rigid–flexible coupling and a variable stiffness system, specifically designed to replicate the motion characteristics of the human cervical spine. Kinematic control of the robot is achieved by establishing a functional relationship between its configuration space and actuation space.

This article designs a three-degrees-of-freedom (3-DoF) series-parallel stabilisation platform (SPSP), analyses the platform's degrees of freedom, establishes an error model, and analyses the degree to which each error affects the attitude error of the moving platform when inputting a sine signal, as well as the degree to which each error source affects the attitude error of the moving platform at a certain attitude. 

The haptic interactive robot based on a cable-driven parallel mechanism studied in this paper is mainly used for interactive training between an astronaut and a virtual environment. This haptic interactive robot can accurately simulate the motion and mechanical characteristics of objects in a microgravity environment and can safely interact with astronauts.