Zero-Backlash Capstan Cable-Drum Helix, Euler-Slip & Pre-Tension Compiler (.STEP)

Deterministic Capstan belt friction T_high/T_low <= exp(mu*theta_wrap) + helical groove axial travel & rope bending-fatigue D_drum/d_rope >= 22 engine (.step, .stl, .pdf) built for Intuitive Surgical, Sava Industries, Carl Stahl, ODrive — zero-upload ephemeral Wasm RAM execution.

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