In order to avoid the infection of COVID-19 and other viruses in the numerous sampling process,a cable-driven robot was designed for oropharyngeal swab sampling.The robot included a concentric cable-driven manipulator and a drive system.Its sampling flexibility was increased through the coordination between the inner and outer cable-driven mechanism.Its working space was expanded through the drive system controlling the translational movement of manipulator.The multi-rigid body model and control system of the cable-driven robot were established by Simulink.Finally,simulations and experiments validate the adaptation of the cable-driven robot for oropharyngeal swab sampling in complex sampling environments and the effectiveness of the cable-driven robot for oropharyngeal swab sampling.