Recent studies have shown that by allowing cables to collide with and wrap around strategically placed barriers, the workspaces of Cable-Driven Parallel Robots (CDPR) can be dramatically expanded in cluttered environments. This paper identifies the conditions under which a planar CDPR can fully cover a given installation area and the minimum number of cables and barriers required for full coverage. Additionally, a specific design approach that can be directly followed is introduced, along with several practical design considerations for reducing the number of required cables while maintaining a high degree of coverage.