...
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 requirement of Design II within the working range of the mechanism. The plot is made with respect to L2 on the x-axis.
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 . chosen for the product of 1.7 Nm. If we had chosen a weaker servo motor, the original Design I would have been the only feasible option.