Good morning, Rachelspeechie.
(1) I am interested in your sentence:
I wanted her to do all the work.
(2) Why do you call "do" the "main verb"?
(3) I think the "main verb" is "wanted."
(a) I think the sentence is basically:
I wanted something.
Something = her to do all the work/ her to cook the dinner/ her to drive
me to the supermarket.
(i) to do/ to cook/ to drive = infinitives. I do not think that they are
called "main verbs."
Let's see what others can teach you and me.
Have a nice day!