Here's a robot video that I found interesting:
We tightened the fishing wire a bit too much. The servo is rated for 12kg pull at 1cm distance from axis. so by creating a permanent pull of over 10kg, it means that any additional external torque will be added to the 10 permanent. which means it creates needless excessive side force on the shaft.. it also caused the pulleys to touch but this is because the 3D printed pulley internal hole radius was too big compared to the metal axis in the knee. conclusion- the clamping and tightening of the wire should be as small as possible while ensuring there is not flex in the cord.
By Limor Schweitzer