TABLE 3.

Parameters of the TDCR used for the case study.

Parameter	Value
Segment length L (m)	$50\ast {10}^{-3}$
Disk radius $r_d$ (m)	$8\ast {10}^{-3}$
Backbone diameter (m)	$0.8\ast {10}^{-3}$
Young modulus E (Pa)	$2.11\ast {10}^{11}$
Quadratic moment I (m$4$)	$2.01\ast {10}^{-14}$
Stiffness $EI$ (N.m$2$)	$4.2\ast {10}^{-3}$
Position of tendons in ${\left(R\right)}_j$ frame
$\overrightarrow{O_j{P}_{j,1}}$, $\overrightarrow{O_j{P}_{j,3}}$	$\left[\begin{array}{ccc}0& r_d& 0\end{array}\right]$
$\overrightarrow{O_j{P}_{j,2}}$, $\overrightarrow{O_j{P}_{j,4}}$	$\left[\begin{array}{ccc}0& -r_d& 0\end{array}\right]$