In the field of Cable-Driven Parallel Robots (CDPRs), a conventional assumption is that each cable is directly controlled by an actuator, establishing a one-to-one correspondence between the number of cables and the number of actuators. However, as shown in [2], the number of cables should be determined by the desired workspace, whereas the number of actuators should be based on the robot’s degrees of freedom (DoF). This paper introduces an innovative design methodology for CDPRs that deviates from the traditional approach of assigning an actuator for each cable. Instead, the design process begins by defining the CDPR geometry from the desired workspace. The number of actuators is determined by the number of dimensions of the desired workspace. The transmission between these actuators and the cables is assumed to be linear. This strategy involves formulating a transmission matrix that establishes the mapping between actuators and cables. The determination of this transmission matrix is formulated as a mixed-integer quadratically constrained optimization problem and is solved using the Gurobi solver through the YALMIP interface. With this approach, a continuous and wide range rotation is enabled at the center of the Wrench-Closure-Workspace (WCW), reaching approximately \(200^\circ \) (compared to \(180^\circ \) in the conventional design) is achieved in an example considering a planar CDPR with six cables driven by four actuators.