Aiming at the difficult of the modeling on the time-varying potential energy field of cable-driven parallel robots,a method of modeling and solving time-varying potential energy field with high accuracy was proposed.The integral expression of the potential energy field model of the cable-driven parallel robots was established based on the differential elements of cable mass and cable length by using the finite element integration method; the integral expression of the potential energy field model was solved by combining the catenary model of the cable-driven parallel robots and the boundary constraints to realize the establishment of time-varying potential energy field with high accuracy for cable-driven parallel robots.The influence parameters of the potential energy field of the cable-driven parallel robots were studied through simulation tests.The results provide reference for the real-time stability evaluation of the cable-driven parallel robots and the construction of the stable working space based on time-varying potential energy field.