  Cable-driven parallel robots (CDPRs) are widely investigated and applied in
the worldwide; however, traditional configurations make them to be limited in
reaching their maximum workspace duo to constraints such as the maximum
allowable tensions of cables. In this paper, we introduce auxiliary
counterbalances to tackle this problem and focus on workspace analysis and
optimal design of CDPRs with such systems. Besides, kinematics, dynamics, and
parameters optimization formulas and algorithm are provided to maximize the
reachable workspace of CDPRs. Case studies for different configurations are
presented and discussed. Numerical results suggest the effectiveness of the
aforementioned approaches, and the obtained parameters can also be applied for
actual CDPRs design.
