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Figure 2: Free body diagram of rope force interaction with one half of the cam cleat
Figure 2:The working range of the mechanism where the rope will likely be compressed is shown in red. All plots are made with respect to the angle of L2. Top Left: Relative angular velocities of L3 and L4 if L2 is moving at 1 rad/s. Top Right: Mechanical Advantage spikes to infinity near the toggle position. Bottom Left: Tie rod force input required on L3 to generate required 100 N output compression force on the rope. Bottom Right: Torque required by the motor
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.