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The main kinematic principle behind the device developed is the toggle position of a four bar linkage. The mechanism exploited the properties of a toggle point similar to an industrial four bar clamp shown in Figure 1. In these devices, three of the four pin joints become aligned when moving the handle of the clamp to the closed position. This causes the jaws of the clamp to shut on an object and not release due to the high mechanical advantage (MA) at this location.
Figure 1: Four bar clamp in closed position with three pins
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aligned
The mechanical advantage can be understood from the following equation:
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Another mechanism that the developed device utilizes is the cam cleat. This is the same concept sail boats already use to hold the ropes on the boat itself. If a rope is pulled in tension one direction as seen in Figure 2, the internal torsional springs of the cam cleat create a compression force to grip the rope. As more tension is applied to the rope, the torsional springs are able to apply more gripping force to the rope itself. This enables powerful rope holding ability without the need for external, powered force generation.
Figure 2: Cam cleat mechanism grips ropes in
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tension
Image Sources: http://www.directindustry.com/prod/emile-maurin/product-39388-754471.html , http://www.cruisersforum.com/forums/f116/best-way-to-re-attach-cam-cleat-to-mast-107621.html
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