An automatical reconfiguration cable-driven parallel robot (ARCPR) is optimally designed on the basis of conventional cable-driven parallel robots, and it can realize the change of degrees of freedom (DOFs) from two to six. The 3D model for the ARCPR is built, and then the kinematics characteristics of the rotating guide-bar mechanism is analyzed. The automatical reconfiguration method of mechanism is illustrated. Based on 6 DOFs kinematics model, the workspace of end-effector is analyzed. Then, the relation between the trajectory of the rotating guide-bar mechanism and the workspace of the end-effector is studied. The results appear that the design and workspace of the ARCPR can well meet our needs, and the automatical reconfiguration process can be implemented with high efficiency. The results provide a theoretical basis for designing physical prototype and control system of ARCPR.