This model shows the actuation of a mechanism using a pulley and mulitple ropes connected by three joints and linkages. A driven pulley actuates each joint by applying tension in the rope that is connected to each respective joint and linkage. The joints have an applied stiffness through the implementation of an elasto backlash 1D component which aids in providing a smooth motion for the actuation.

As the mechaism is actuated, a range of tensions can be seen in the ropes on the top and bottom of the mechanism. The changing color corresponds to different values with the lower limit being dark blue, representing 0 N and the upper limit being red, representing 1000 N.