Ever saw a marionette? It has strings attached to its limbs, which move them up for example.
Imagine a very elaborate system of strings for moving up and a system for moving down etc.
Muscles are conected to the frame by tendons, those would be the strings. As to what moves the strings on a molecular level is a reaction between aktin and myosin (tiny ropes tied together, think the sliding rope knot) , which enables them to slide on each other.
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