# A novel design for fully constrained planar Cable-Driven Parallel Robots to increase their wrench-feasible workspace

> Research article (Mechanism and Machine Theory, 2022) · cited 27× · AI/ML

**Wikidata**: [openalex:W4309671693](https://www.wikidata.org/wiki/openalex:W4309671693)  
**Source**: https://4ort.xyz/entity/a-novel-design-for-fully-constrained-planar-cable-driven-parallel-robots-to-increase-their-wrench-feasible-workspace