Cable-Driven Parallel Robots (CDPRs) offer high payload capacities, large translational workspace and high dynamics performances. Their rotational workspace is generally far more limited, however, which can be resolved by using cable loops, as was shown in previous research. In the case of fully-constrained CDPRs, cable loops can induce unwanted torques on the moving-platform, causing it to tilt and move away from its intended position, which we call parasitic tilt. Hence, the orientation accuracy of such robots is usually limited. This paper deals with the design, modelling and prototyping of a planar CDPR with infinite rotations, without parasitic tilt and without an additional motor. This robot, which we call a Cable-Driven Parallel Crane (CDPC), is composed of a mobile platform (MP) with an embedded mechanism and a transmission module. The MP is linked to the frame by four cables, three of them acting in parallel, forming in effect a double parallelogram. Among these three parallel cables, two form a cable loop, i.e., they are two strands of the same cable redirected to and from the MP through an embedded pulley. The two-degree-of-freedom (dof) motions of the moving-platform of the CDPC and