[echin]

Thank you for the compliments!

Our release mechanism/ winch has two methods of locking; a bicycle disk brake and a dog shifter. The dog shifter goes to a gear powered by a planetary gearbox, and the disk brake locks onto a disk attached to the cable spool on the winch and is actuated by a pneumatic piston. There is a picture of the winch at roughly 0:24 in our reveal video (we made an improved spool after that picture, but the concept is the same), as well as the brake mechanism at 0:34. There is a video of a slow eject shot at 1:17. The entire winch assembly fits under the support structure for the shooter, so it isn't very easy to see while it's on the robot.