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The issues of cable slackening (especially at higher accelerations) and the emergence of singularity poses have traditional limitations. This paper analyzes and generates manipulator configurations that reduce the effect of these two essential hindrances of deploying CDPMs. A methodology, inspired by rigid body dynamics of multiple contact problems, used to optimize the positions of attachment points, is shown to be effective.<\/jats:p>","DOI":"10.1017\/s0263574721000230","type":"journal-article","created":{"date-parts":[[2021,3,16]],"date-time":"2021-03-16T06:12:52Z","timestamp":1615875172000},"page":"2153-2171","source":"Crossref","is-referenced-by-count":8,"title":["Enhanced Dynamic Capability of Cable-Driven Parallel Manipulators by Reconfiguration"],"prefix":"10.1017","volume":"39","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1207-2717","authenticated-orcid":false,"given":"Rajesh","family":"Kumar","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sudipto","family":"Mukherjee","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2021,3,16]]},"reference":[{"key":"S0263574721000230_ref41","first-page":"219","article-title":"Workspace Analysis and Optimal Design of Cable-Driven Planar Parallel Manipulators","volume":"1","author":"Pham","year":"2004","journal-title":"IEEE Conference on Robotics, Automation and Mechatronics"},{"key":"S0263574721000230_ref15","doi-asserted-by":"crossref","unstructured":"15. 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