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Figure 3: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.
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