In this paper, a novel design has been presented for a spatial translational cable-driven robot. The original design of this robot was introduced by Bosscher et al. (2005, “A concept for rapidly-deployable cable robot search and rescue systems,” DETC2005: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Long Beach, CA). In this paper, a structure has been proposed to enhance the workspace of the robot. This has been done by using more cables in the mechanism. However, no extra actuator has been added to the robot. Additionally, a method has been proposed to obtain the workspace of the presented robot by calculating the available moment (AM) set in each point of space. The results imply that the workspace of the robot has been enhanced significantly by using the new design.