This paper introduces a novel cable-driven parallel robot (CDPR) specifically designed for Chinese calligraphy. The proposed system features a lightweight, easily reconfigurable structure comprising six cables and five degrees of freedom(DoFs). An open-loop position control scheme is employed, integrating inverse kinematics to calculate spool angles from the desired poses, and a trajectory planning module that converts Chinese character images into brush trajectories for the end-effector (EE). A human-machine interface (HMI) facilitates real-time monitoring, calibration, and parameter adjustments. Experiments were conducted with 77 Chinese characters in different fonts, demonstrating the robot’s capability to reproduce various writing styles. The proposed robot structure and control approach provide a foundation for future enhancements, including closed-loop feedback and broader applications in Chinese art, such as painting.