Wire robots (also called Tendon-based parallel manipulators) use a movable end-effector which is connected to a machine frame by motor driven tendons. Since tendons can transmit only pulling forces, at least m = n + 1 cables are needed to tense a system having n degrees-of-freedom. The resulting redundancy gives m − n degrees-of-freedom in the wire force distribution, making workspace analysis a complex and computationally expensive task. Discrete methods are widely used to solve this problem, but their drawback is that intermediate points on the discrete calculation grid are neglected which may lead to false results. This paper provides detailed algorithms for continuous workspace analysis for wire robots which avoid the discretization and have additional advantages. Especially, it is easy to extend the analysis methods to methods usable for the workspace synthesis.

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