David sounds good but sorry to say I am not believing a word of it. Let's talk about the pulling the string over or under the frame. If your gripper is below the stringbed go under, if it is above go over, and if they are on the same level it does not matter.
When you're dead you don't know you're dead. It's the same way when you're stupid.
Balance - 31.0 cm, Weight - 358 g, SW - 346 Kgcm^2