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In order to improve the performance of cable-driven parallel robots (CDPRs), the configuration of the redundantly actuated CDPRs is optimized, and a feasible continuous tension distribution method for tracking the trajectory of the robot is proposed. A convex analysis method is used to determine the wrench-feasible workspace of CDPRs and the grouped coordinate descent method is used to determine the size of the redundantly actuated six-degree-of-freedom CDPRs. By changing the cable layout and using the geometric analysis method for the redundantly actuated CDPRs, the maximum rotation angle of the mobile platform in 3-D space is determined. The optimal size and layout of the CDPR are determined by comparison and analysis. The high dynamic CDPRs require real-time control to adjust the cable tension. In order to solve this issue, a real-time cable tension distribution algorithm for a non-iteration two-degree-of-freedom actuation redundancy CDPR is proposed. The proposed tension distribution algorithm is applied to the optimized six-degree-of-freedom eight-cable CDPR, and compared with other existing cable tension distribution algorithms. The simulation results demonstrated that the feasibility and the advantages of the proposed cable tension distribution algorithm.