Abstract: At present, exterior wall painting still relies on traditional methods such as brushing, rolling, and manual spraying. These methods suffer from low efficiency, uneven thickness control, and safety risks associated with working at heights. To address these issues, this study designed a cable-driven exterior wall painting robot with a large operational workspace. The robot adopts a flexible cable-driven parallel mechanism, capable of performing four operational modes: cable release, painting, cable retraction, and movement. Based on conventional painting requirements and the working conditions of flexible cables, a preliminary design scheme for the robot was developed. A kinematic model of the robot was established, and trajectory planning was carried out according to its working modes. A timing diagram of the painting operation was drawn to determine the coordinated working times of each task. Based on the robot's operating principles and initial design, boundary conditions for painting were set. Using simulation software, the trajectory of the marked center point on the moving platform was validated. Additionally, a complete painting cycle was divided into five motion phases, and the changes in length of the four flexible traction cables were analyzed to verify the correctness and coordination of each stage of motion.