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Figure 1: Linkage Mechanism for Design I Prototype

kIn the design process of this mechanism, it was decided from the requirements that a 100 Newton clamping force on the rope would be enough to fully drive the mechanism to the toggle position. Using this assumption, we could use the mechanical advantage calculation described earlier in the 

Image Added

Figure 2: Free body diagram of rope force interaction with one half of the cam cleat

Design II

Even though the torque output required by the motor is higher in the new design, it is still well within the maximum output of the servo motor.