A cable-driven robot

A cable-driven robot comprising:

• a base structure;
• a plurality of cables;
• a movable element which is maintained suspended by means of the plurality of cables, wherein each cable of the plurality of cables comprises a first end fixed to the movable operating element;
• a movement system for moving the cables, and thus for moving the movable operating element in space with respect to the base structure MTh the movement system comprising a plurality of movement units of the cables;
• wherein at least one movement unit of the plurality of movement units comprises:
• a frame, which is hinged to a part of the base structure pivotingly about a vertical hinge axis so that the frame can rotate about the vertical hinge axis with respect to the base structure;
• a motor, mounted on the frame, and comprising a rotation shaft;
• at least a winding/unwinding element of a cable having a fixing point at which a second end of a cable of the plurality of cables is fixed, the winding/unwinding element comprising a drum, which is mounted on the frame in such a way as to be connected to the rotation shaft of the motor and to be drivable in rotation following the activation in rotation, in one rotation direction or the other, of the rotation shaft by the motor, the drum comprising a lateral surface which is conformed in such a way as to comprise a helical groove which extends coaxially with respect to the axis of the drum and defining a series of hollow turns each of which is conformed to receive and contain internally thereof a corresponding winding turn of the cable during the winding/unwinding of the cable about the drum.