The proposed mechanism in this study is a multi-body cable driven robot. The robot has 6 DOF. The thesis first presents the required concepts and definitions. Then a solution to the kinematic synthesis problem is reviewed. This solution includes an algorithm that finds all the sets of design parameters that make the robot span a desired workspace. Also, an optimization procedure is proposed to find the best possible answer to the synthesis problem. Moreover, a geometrical approach is used to develop a parameter identification method. This task is very important since in practice the fabricated and assembled parts involve errors. More importantly, the robot is supposed to be configured before each performance and the new parameters need to be identified with acceptable accuracy.

Also, Impedance Control is investigated as a method of interest in rehabilitation. The simulation results on a simple shoulder rehabilitation cable robot are presented. The impedance Control makes the robot perform as a mass-spring-damper system. This property lets the patient deviate from the designated trajectory while guiding him towards the right path.