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A multi-link cable-driven robot (MCDR) usually has a large number of redundant actuating cables due to its modular cable routing scheme. To reduce the number of actuating cables while keeping the advantages of the modular MCDRs, a hybrid modular cable routing method is proposed, in which some actuating cables are co-shared by adjacent cable-driven joints. Consequently, the total number of actuating cables can be reduced to <inline-formula> <tex-math notation="LaTeX">$n+1$ </tex-math></inline-formula> for an <inline-formula> <tex-math notation="LaTeX">$n$ </tex-math></inline-formula>-degree-of-freedom (<inline-formula> <tex-math notation="LaTeX">$n$ </tex-math></inline-formula>-DOF) MCDR. Focusing on MCDRs composed of identical 2-DOF cable-driven universal joint modules, the performance of the MCDR with the hybrid modular cable routing scheme is evaluated. It is concluded that: 1) the wrench-closure workspace of an MCDR with the hybrid modular cable routing scheme remains unchanged compared to the conventional modular cable routing scheme; 2) the maximal joint speed is inversely proportional to the total number of joint modules that co-share one actuating cable; and 3) the loading capability of an MCDR is a monotone decreasing function of the number of co-shared actuating cables. To verify the conclusions obtained, computer simulations are conducted on an MCDR with different cable routing schemes. Besides, the hybrid modular cable routing with alternatively co-shared actuating cables is an ideal cable routing scheme as it has the minimum loss of performance on motion speed and loading capability.