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Cable-driven parallel robots (CDPRs) are system driven exclusively by cables, giving them advantages in operation. However, this also introduces complexity into their mechanical behavior. Indeed, the cable elasticity is affected by a hysteresis phenomenon. There is therefore an uncertainty about the actual value of the cable’s Young’s modulus. However, uncertainty analysis on design parameters of CDPR has not been conducted yet. So, this article first introduces a new modeling of CDPRs allowing to take in consideration the sagging of the cables while considering different pulley architectures as well as the cable dead length between the winch and the pulley. Then, a sensitivity analysis of the main design parameters on the positioning error of the moving platform (MP) is performed through a design of experiments conducted on a suspended CDPR with four cables. For this purpose, the variation of the …