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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 assuming the tie rod is connected to a 5mm radius servo horn.

The main impression obtained from the kinematic analysis of this first design is that the motor torque requirement was very low. Most servo motors could provide the expected required input of less than 0.5 Nm.

Design II

The next design iteration included the integrated motor rather than just simulating it previously. Since general cleat and four bar features stayed the same, the relative kinematics presented for the first design also apply to this case. However, there were some design changes. 

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.