This paper introduces the concept of a new Cable-Driven Parallel Robot (CDPR) applicable for tasks requiring large rotation and translation workspaces, e.g., camera orienting devices, visual surveillance over vast areas and tomography scanners. The manipulator consists of a fixed frame and a tilt-roll wrist attached to a Moving-Platform (MP). The MP is an under-constrained and articulated mechanism connected to the fixed frame with six cables. The power is transmitted directly from the motors fixed on the frames to the tilt-roll wrist through cable loops. While most of the CDPRs only provide a limited range of rotation of the MP, the proposed manipulator is applicable for a relatively large and singularity-free rotation workspace thanks to its articulated MP.