Grows From 2DOF to 5DOF
A 2DOF set adds a pivot bar for simulated heave (2.5DOF), a second actuator pair for 3DOF, then QS-CH2 for 5DOF.
An integrator enters at the entry tier and scales the rig as budget allows, with original hardware kept in the chain.
A single-tier platform treats each upgrade as a replacement, writing off the first build before re-quoting.

















