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This paper addresses the cable tension distributions of a cable-driven parallel robot with non-negligible cable mass for large dimension mechanisms. A well-known model which describes the profile of a cable under the action of its own weight allows us to take the cable sags into account. In addition, an approach to computing the cable tensions is presented, in which there are two major steps to obtain the cable tensions. In more detail, the first one is an iterative process for obtaining thedoi:10.2174/1874444301507011973 fatcat:rjxrpxwayrbu7ewwlog7ld2mym