Even though it might help to start with a mechanism at a different physical scale, changing the scale matters indeed. The mass being different, this leads to d

Even though it might help to start with a mechanism at a different physical scale, changing the scale matters indeed. The mass being different, this leads to different forces required to get the same acceleration or deceleration. That follows directly from the formula: force = mass * acceleration. Moreover, the resonance frequency [1] of an object is different for different scales. For example, piano strings will vibrate at different speeds, depending on their sizes. That would be the same for the robot cables. Also, when changing the scale of an object, the materials often change. The cables and the motors would probably be built differently, with different physical properties. In general, to design a new mechanism, it is common practice to start with software simulations, 3D prints, and small scale prototypes. However, the properties of the new mechanism are only validated when you have built a real size prototype. [1]: https://en.wikipedia.org/wiki/Mechanical_resonance https://en.wikipedia.org/wiki/Mechanical_resonance