The invention relates to a driving device for a reconfigurable cable-driven parallel manipulator. The device comprises a motor, a drive module box body, a winding device, a pressure axis, a tensioning device, a spring spool, a plane volute spring, a spring catch, a split pin, a driving device, a driving slide block, an inner spherical guide hole and an outer spherical guide hole, wherein the drive module box body is connected with the motor; the winding device comprises a cable reel which is connected with the drive module box body; the pressure axis is fixed in a groove on two sides of the drive module box body, and is positioned above the cable reel; the tensioning device comprises a spring scroll; the spring spool is connected with the spring scroll; the spring catch is coaxially connected with the spring scroll; the driving device comprises a linear guide rail; the driving slide block is fixed on a slide block of the linear guide rail; the inner spherical guide hole is fixed on the slide block of the guide rail; and the outer spherical guide hole is arranged on the outer wall of the drive module box body. The reconfigurable cable-driven parallel manipulator comprises a manipulator body frame, a drive module connected with the manipulator body frame and a manipulator movable platform.