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Figure 3:Top: Design II in the closed position, Bottom: Design II in the open position
The design change of making the linkage system more compact did not affect the kinematics significantly. However, the torque input required by changing the servo motor's input method from a tie rod to direct input had a significant impact. Figure 4 shows that the torque input requirement is much higher for the working range of where the rope contacts the cam cleat.
Figure 4: The torque input
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.