The present invention discloses a cable-driven manipulator comprising an operating unit (10) having a drive motor (12), and a pulley (16) rotated by the drive motor (12); an upper arm (20) jointly coupled to one side of the operating unit; a forearm (30) jointly coupled to the other side of the upper arm (20) by the cable (50); a gripper (40) of an end-effector operatably coupled to the forearm (30); and a cable compensation device (80) installed between the upper arm (20) and the forearm (30) so as to maintain constantly the length of the cable (50) that transmits the power of the operating unit to the end-effector also during the pivoting of the forearm (20), so that it is possible to prevent the variation of tensile force due to the variation of the length of the cable (50) for operating the end effector during the pivoting of the forearm (20) or the unintended malfunction of the end effector.