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However, the formulations and results obtained for the rigid-link mechanism cannot be directly applied to CDPMs, due to the unilateral property of cables. This paper focuses on the workspace analysis of fully restrained positioning mechanisms, where \\(m\\geq n+1\\), \\(m\\) is the number of cables and \\(n\\) the number of degrees of freedom. A general recursive approach is proposed to check the force-closure condition. This condition is expressed in terms of the convex hull which encloses the origin. To simplify the analysis, a recursive algorithm is proposed and the checking of the convex hull is realized in \\((n-1)\\)-dimensional spaces instead of checking it in an \\(n\\)-dimensional space. This is done by reducing one row and one column of the original system at a time via Gaussian elimination. The computational steps to determine the workspace are illustrated on two numerical examples, a completely restrained positioning mechanism \\((m=4,n=3)\\) and a redundantly restrained positioning mechanism \\((m=8,n=6)\\). The proposed algorithm can also be applied for incompletely restrained positioning mechanisms \\((m\\leq n+1)\\) by combining external forces and cable tensions 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