## 1 Introduction
To ignore the inertia effects of the cable, this proposed method assumes that the motion of the end effector is slow. The cable profile is also considered for the checking of collisions based on kinetostatic analyses of the cable robot. In addition, the limitations of planar cable-driven parallel robots can be improved so that they cause a zero force on the borders of such a static wrench. Two different CDPRs, with and without a counterbalancing mechanism, were proposed for study and comparison, and then the improving effects of the proposed mechanism on the static wrench (SW) and available wrench set (AW) were demonstrated [18]. Similarly, two different CDPRs were used to analyze the workspace in [19], and a novel workspace from the control was proposed, namely the Control Stability Workspace (CSW). This workspace can determine whether the controller will be able to guide the platform of the CDPR to the desired position. Moreover, to determine the wrench-feasible workspace (WFW) for CDPR when subjected to external force and high payload and improve the optimum designs of CDPR, the overall workspace was maximized. Based on the kinematic equilibrium, the wrench-feasible workspace and twist feasible workspace were obtained and presented based on these case studies [20]. Despite much research already being conducted on the workspace analysis of general CDPR, a workspace analysis on musculoskeletal systems as cable-driven robots was proposed for the first time in [21]; the research results show that the proposed approach can produce a realistic workspace. Recently, several studies on CDPRs focused on workspace analysis, but most of this research only considered static equilibrium conditions or gravity to determine the workspace. In their study, [PERSON] et al. presented a wrench-feasible workspace [22]. Their study not only considered dynamic conditions based on the effect of various accelerations but also took into account the pulley-bearing friction factor. However, this factor analysis is only suitable for CDPR systems where the design of the drive uses multiple pulleys in series and is not applicable to other designs that only use a single pulley at anchor pointsof CDPR systems. As previously mentioned, cable tension is quite important. In a real CDPR system, the predicted cable tensions cannot easily improve the features of the robot due to the nonlinear characteristics of the cable as well as the nonlinear tension that occurs during motion. These characteristics affect the dynamic stability of CDPRs. In addition, the high acceleration generated on the wrench-feasible workspace affected the CDPR system significantly. Therefore, the workspace analysis of a CDPR with consideration of the nonlinear cable tension is an important issue in evaluating its performance. In this study, we focused on the nonlinear cable tension effect because tension varies when cables are actuated in dynamic conditions. Cable nonlinear tension modeling cannot be neglected in situations where high tension is imposed under varying acceleration. The methodologies to determine the feasible workspace of CDPR have been presented in many studies. However, for CDPR using polymer cables, the linear tension model can be used to determine the cable tension, but this model cannot be used to determine the feasible workspace of the CDPR system because it does not satisfy the nonlinear elastic properties of the polymer cable. In addition, the operation of the robot is also affected by dynamic phenomena associated with high cable length variations. The main contributions of this paper can be summarized as follows:  
1. The dynamics of the redundant cable-driven parallel robot (CDPR) and the influence of pulley kinematics are presented. 2. A methodology for determining the wrench-feasible workspace (WFW) of a cable-driven parallel robot (CDPR) is proposed based on a nonlinear cable tension model. 3.