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From the proof of concept mechanism, we noticed several action items that would need to be addressed in the upcoming prototypes. Firstly, a rotational to linear motion mechanism such as a crank slider will need to be added to properly use the motor input. Next, in order to better grip the rope, a proper grip will need to be added. In this case, foam was added to the base of the grips. Lastly, while bolts allow for quick prototyping, the rotation of the bolts while the links rotated caused for the nuts to be loosened.
1 Williams, B. (n.d.). An Atlas of Structures, Mechanisms, and Robots. Retrieved December 4, 2015, from http://www.ohio.edu/people/williar4/html/PDF/MechanismAtlas.pdf