Design I
The first prototype consisted of a four bar linkage that opened and closed the jaws of a cam cleat. As shown in Figure 1, the design is meant to be motorized to enable a powered gripper for the impaired user. A tie rod was going to be used to to attach a servo motor horn to the input link (L3).
Figure 1: Linkage Mechanism for Design I Prototype
k
Design II
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.