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Extended Abstract When any actuation cable force of the cable-driven parallel mechanism(CDPM) becomes negative during its operation, the cable goes slack losing its role of force transmission. Thus, every cable tensile force of the CDPM should always be kept positive in order for the CDPM to be properly operational. Indeed, the optimization problem for the cable force distribution of the CDPM should be defined by an appropriate objective function subject to inequality conditions to secure that every cable force is kept within the range, between the minimum and maximum tensile cable forces [1-5]. Recently, the pseudoinverse solution equation for the redundantly actuated PM with one redundant actuation is interpreted as line equations. Then through the search for the intersection points between lines, the computational efficiency in finding the optimal  norm solution could be improved significantly [6]. In this work, an optimal cable force distribution algorithm is proposed, which can efficiently search for the minimum

Cable Force-Balancing Distribution of the Cable-Driven Parallel Mechanism for Actuator Saturation Avoidance