Increasing performance demands necessitates design of new types of robots with larger workspace, being capable to perform at higher accelerations. Parallel manipulators can generally perform better than serial manipulators in terms of stringent stiffness and acceleration requirements. However, their limited workspace and the existence of singular regions inside their workspace confines the applications of parallel manipulators for large workspace requirement. In a cable-driven redundant parallel manipulator (CDRPM), the linear actuators of parallel manipulators are replaced with electrical powered cable drivers, which leads immediately to a larger workspace. The idea of using cable driven redundant parallel manipulators, are not limited to only the applications where very large workspace is required, and this idea is effectively penetrated in the applications where precise and stiff robot is required to operate in high accelerations within a relatively larger workspace than that attainable in conventional parallel robots. In this presentation, one of such application in which a CDRPM is used is introduced, and the challenging issues in the optimal kinematics structure, dynamics formulation, and control of such structure will be presented. Finally, the steps toward the implementation of this robot will be further discussed.