The invention discloses a rigidity-adjustable rope-driven bionic parallel robot. The rigidity-adjustable rope-driven bionic parallel robot comprises a movable platform, a fixed platform, a supportingspring, a linear bearing, a plane bearing and a driving rope, wherein the supporting spring is fixedly arranged between the movable platform and the fixed platform; the lower end of the supporting spring is fixed to the fixed platform; the upper end of the supporting spring is connected with the movable platform through the planar bearing; the supporting spring is internally provided with an upperspine, a universal joint and a lower spine; the linear bearing is fixed to the movable platform and is connected with the upper end of the upper spine; the lower end of the upper spine is connected with the upper end of the universal joint; the lower end of the universal joint is connected with the upper end of the lower spine; the lower end of the lower spine is fixed to the fixed platform; oneend of the driving rope is fixed to the movable platform; and the other end of the driving rope acts as a driving end after penetrating through the fixed platform. The rigidity-adjustable rope-drivenbionic parallel robot disclosed by the invention has the characteristics of being adjustable in rigidity, intuitionistic in kinematics analysis and calculation, smooth in action and the like.