Abstract: Wire driven parallel robot, in which wire is used to replace the link of parallel robot, is developed from parallel robot and serial wire driven robot. Compared with the parallel robot, this kind of robot has more advantages. In this paper, a new type of wire driven parallel robot with restraint mechanism is proposed. Driven by four wires, the moving platform can spatially rotate. The configuration, kinematics and statics are described. Moreover, a method on ascertaining the wire's tension is discussed. The study results prove that wire driven robot with restraint mechanism can realize more moving modes. Hence, the broad application of wire driven mechanism is made possible.