Actuation interface
Creates a secure entry node with minimal slip and predictable alignment.
Direct Tension Mode
Use direct pull when immediate tensile response matters.
Pulling effect mode applies linear force directly to the strand. It is suitable when conversion loss must stay low, response must be immediate, and the architecture should remain mechanically lean.
The strength of pulling mode is simplicity. Its weakness is local stress concentration if entry-node design, guidance, and load sharing are not handled carefully.
Guided tension path
Maintains axial loading while limiting kinks, twist, and off-axis bending.
Terminal work
Delivers contraction, displacement, gripping, deployment, or synchronized pull at the output side.
Advantages
- High direct efficiency
- Lower part count
- Fast control response
- Easier force interpretation
Design watchpoints
- Entry-cell overload
- Shock loading during initiation
- Non-uniform elongation along the chain
- Fatigue at joints, anchors, or bends