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Dynamic analysis of Scissor Lift mechanism through bond graph modeling

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2014 IEEE/ASME International Conference on
Advanced Intelligent Mechatronics (AIM)
July 8-11, 2014. Besançon, France

Dynamic Analysis of Scissor Lift Mechanism through Bond Graph

Modeling

Md Toufiqul Islam, Cheng Yin, Shengqi Jian, and Luc Rolland

Abstract—This paper describes the implementation of mechanism is comprised of two very well-known
general multibody system dynamics on Scissor lift Mechanism mechanisms which are four bar mechanism and slider crank
(i.e. four bar parallel mechanism) within a bond graph mechanism. Fig.1 shows the mentioned two mechanisms and
modeling framework. Scissor lifting mechanism is the first Fig.2 shows the complete system model of the scissor lift
choice for automobiles and industries for elevation work. The mechanism. The links form a parallel kinematic mechanism
system has a one degree of freedom. There are several
and they are connected by revolute joints. Each four link
procedures for deriving dynamic equations of rigid bodies in
classical mechanics (i.e. Classic Newton-D’Alembert, Newton- form a rhombus like structure and where length of each link
Euler, Lagrange, Hamilton, kanes to name a few). But these are is same. There is a driving mechanism connected with the
labor-intensive for large and complicated systems thereby error lower end of the moving link which is located at the ground
prone. Here the multibody dynamics model of the mechanism is platform. The driving mechanism can be electric, hydraulic
developed in bond graph formalism because it offers flexibility or pneumatic based on design criteria. They can be connected
for modeling of closed loop kinematic systems without any to the systems in different ways. Some very popular ways of
causal conflicts and control laws can be included. In this work, connecting them are to connect at the center of corner joint or
the mechanism is modeled and simulated in order to evaluate connect it on the base as slider crank or connected to any
several application-specific requirements such as dynamics,
actuator link (e.g. hydraulic, pneumatic etc.). But here we
position accuracy etc. The proposed multibody dynamics model
of the mechanism offers an accurate and fast method to analyze considered one DC motor as the driving mechanism. It is
the dynamics of the mechanism knowing that there is no such located at the base and connected with the slider crank. A
work available for scissor lifts. The simulation gives a clear idea brief literature review relating to this multibody dynamics
about motor torque sizing for different link lengths of the problem is presented in Section II. The kinematics of the
mechanism over a linear displacement. mechanism is analyzed in Section III. The development
process of the dynamic model of the system is offered in
I. INTRODUCTION
Section IV. The result from the simulation is presented in
The main use of scissor lift type elevating platforms is Section V. The model was verified in Section VI. Discussion
vertical transportation of load with or without human. They about the model is presented in the Section VII. Finally,
are widely used for the assembly works (e.g. aircraft parts Section VIII offers the concluding remarks.
assembly, motor parts assembly), the maintenance of
constructions or they can be used in the inner material
transportation system. The scissor lift structure can be mobile
if it is mounted on the vehicle or the right truck, i.e. adaptable
to different purposes [1]. There is an increasing importance
of modeling and simulation of complex and large mechanical
systems. For scissor lifting mechanism proper and functional
dynamic simulation of the system has a great importance as
their primary function is to elevate worker tools and load to a
desired height while allowing the operator to control the
movement and position of the lift. Therefore proper
designing, manufacturing and maintenance of scissor lifting
mechanism not only increase productivity but also worker’s
safety [2]. Unfortunately, fatal accidents and non-fatal
incidents have also happened during scissor lift operations [3,
4].Therefore a proper dynamic model is very necessary to
investigate the dynamic behavior of the system. This

M. T. Islam, C. Yin, S. Jian and L. Rolland are with the High

Performance Robotics research group, Department of Mechanical
Engineering, Memorial University of Newfoundland, NL, A1B3X9
CANADA (phone: 709-341-7707; 709-771-6008; 709-771-1991; 709-864-
8943; e-mail: mti868@mun.ca; cyin@mun.ca; sj5062@mun.ca;
lrolland@mun.ca). Fig. 1. Four bar and Slider crank mechanism

978-1-4799-5735-4/14/$31.00 ©2014 IEEE 1393


Fig. 2. Basic Construction of 2 stage Scissor Lift
Mechanism
II. BACKGROUND STUDY
In 1603, the Pantograph was invented by Christopher
Scheiner, which may be regarded as the first example of the
four-bar linkage [5]. Later James Watt proposed a four-bar
mechanism which can generate roughly a straight line motion
[6]. Some mechanisms are designed to produce straight-line
output motion from an input element which rotates, oscillates
or moves also in a straight line. However, the scissor lifting
mechanism an extrapolation from the four bar linkage was
patented by Larson et al. in 1966 [7]. This mechanism relates
to extensible lift mechanism for elevating a load. More
particularly, this relates to such mechanism including an
opposed pair of scissor mechanisms, each of which includes a
pair of scissor arms pivotally connected together, where
relative pivotal movement of the arms accompanies extension
of the lift mechanism. In comparison to the contemporary
designs, this mechanism can provide relatively large amount
of upward extension with a relatively short link length.
Weight is very small and rigidity is better due to parallel
mechanism. Another big advantage of this mechanism is that
it is relatively free of complicated linkage systems, but still
capable of high extension with a short arm.
A. Multibody Dynamics
The singularity configurations and the kinematics of the
rhombus part of the mechanism is discussed in [6]. Another
approach to describe the kinematic analysis of the system
based on MATLAB simulation is discussed in [8]. Though
the mentioned two literatures dealing with the dynamics of
the scissor lift mechanism are very limited, the general
problem of modeling and simulation of multibody dynamics
has been exhaustively studied. Especially analytic multibody
dynamics has a rich history of development owing to
pioneers like Newton, D’Alembert, Euler and Lagrange.
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Detailed literature reviews on multibody dynamics can be
found in [9], [10]. Primarily, the study on the dynamics of
multibody systems is based on Newtonian mechanics. Euler
later contributed the framework to study the motion of rigid
bodies. He also used the freebody principle to model
constraints and joints. To date the Newton-Euler equations
facilitates the study of multibody Dynamics. Euler’s
coetaneous Lagrange also established a systematic analysis of
constrained mechanical systems. The variational principle
applied to the total kinetic and potential energy of the system
considering its kinematic constrains and the corresponding
generalized coordinates result in the Lagrangian equations
that are very useful to the dynamic analysis of multibody
systems. Evolution of multibody system dynamics from the
theory and applications of classical mechanics and rigid body
systems can be attributed to the development of efficient
numerical means to solve the highly nonlinear equations
resulting from the dynamics of the system [9]. In this
evolution process, several modeling formalisms have been
contributed by the researchers. According to [9], these
formalisms can be categorized into two classes; namely,
numeric and symbolic. Sinha et al. in [10] classified the
modeling approaches into two groups. The first group is
relevant to component based systems modeling that is based
on graph theory. Linear graph theory has been used in the
analysis of multibody dynamics; examples include [11], [12].
Besides linear graphs, bond graphs have also been used to
model multibody dynamics; e.g. [13], [14], [15]. Diaz et al.
in [16] describes linear graphs method to model 3D body
mechanics. They also comment that linear graphs reflect the
topology of the system directly; hence, it is easier for non-
specialists to create system descriptions. The second group is
based on modular, object oriented models that can be
hierarchically combined into complete systems; e.g., [17],
[18]. Antic et al. in [19] describes the advantages of bond
graph. They mentioned it can describe hierarchical structure
and connections between subsystems of a system and
formalism introduced in the theory. This offers computer
support for modeling and simulation.
B. Computational Multibody Dynamics
For modeling of mechanisms the multibody systems
community developed many software tools; however, they
differ widely in terms of model description, choice of basic
principles of mechanics and topological structure so that a
uniform description of models does not exist [9]. Gillespie et
al. presented a comprehensive review on computational
multibody dynamics in [20]. Several commercial software
packages are available to numerically solve the multibody
dynamics problem. Some of these are based on Computer
Aided Engineering (CAE); examples include ADAMS [21],
DADS [22] and MESA VERDE [23]. Dymola and Modelica
are two object oriented modeling languages for large system
modeling [16]. 20-Sim software is a very effective and
efficient tool to model multibody dynamic systems for bond
graph [24]. It provides tools that allow creating models very
quickly and intuitively. Models can be created by using
equations, block diagrams, physical components and bond
graphs. It provides various tool boxes to build different
models, to simulate them and analyze their performance. The
software also contains 3D mechanics toolbox which provides
flexibility for multibody modeling.
 Fig.4. Schematic of a Single Link
A. Bond graph Model of Each Link
Fig.3. Figure for kinematic analysis For bond graph modeling of a single beam a body is
considered with mass and rotational inertia. External forces
III. KINEMATIC ANALYSIS OF THE MECHANISM are applied at port A and B. Formulation become much easier
when all bodies in a multibody system contains three inertial
Brief kinematic analysis of hydraulic actuator based scissor
coordinate(x,y,θ). The velocity of the point B with respect to
lift mechanism is described in [7]. In the multi stages scissor
the point G can be formulated as:
lift mechanism the moving links forms a rhombus
configuration. A detailed kinematic analysis of the rhombus VB = VG + VB/G (9)
structure configuration and repeated rhombus structure is
done by Dr. Rolland [5]. The kinematic analysis for the Where the point G is the center of the gravity of the link. If
scissor lift can be done by looking at the loops of Fig. 3. the distance from the point G to the point B is r then the
equation will be:
From fig. 3, θ’=θ’’ and the loop 102 forming an isosceles
triangle. So, l12 = l/2 = l02 (Where l=length of each link). VB = VG + (rB/G) (10)
Input is S and output is h. Applying Pythagoras theorem:
rB/G = BG cos θ i+ BG sin θ j (11)
(l/2)2 = h2 + (S/2)2 (1)
l2/4 = h2 + S2/4 (2) (rB/G) = - BG sinθ ̇ i + BG cosθ ̇ (12)
h2 = l2/4 – S2/4 (3)
From the above equation the velocity component along x axis
h=√ (4) and velocity component along y axis of the point B are:
Differentiating (4) with respect to time gives the velocity. VBx = ̇ - BG sinθ ̇ (13)
̇ -1/2
(l/2 – S/2) (5) VBy = ̇ + BG cosθ ̇
From (1) we can write another inverse relationship: (14)
S=√ (6) For point A velocity with respect to the point G is :
By differentiating (6) with respect to time we get:
̇ (l – 4h)(l2 - 4h2)-1/2 (7) VA = VG + VA/G (15)
The height h with respect to θ’ would be: VA = VG + (rB/G) (16)
h=l/2 sin θ’ (8)
Fig. 3 shows H =2h and the total height from Fig. 2 is 4h. rB/G = BG cos θ i+ BG sin θ j (17)
Further differentiation of (5) and (7) with respect to time
The x and y velocity components of the point A can be
will give the acceleration.
written as follows:
IV. DYNAMICS OF THE MECHANISM VAx = ̇ + AG sinθ ̇ (18)
Dong et al. investigate the dynamic stability of scissor lift VAy = ̇ - AG cosθ ̇ (19)
mechanism and a lumped parameter model was developed
based on the dynamic characteristics resulted from the To make A or B fixed we just need to apply zero flow
simulation [2]. It was an approach based on practical work source or approximately zero on parasitic spring in the bond
and no dynamic model was presented on the whole system. graph. MTF is used in the bond graph to get the velocity
Hence this paper presents a dynamic model of the complete constraints. Fig.4 shows the bond graph model of a single
system which is attractive and fast compared to time and beam where length, mass and inertia parameters are
effort required by classic dynamics modeling methods. considered as global parameter.

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 Fig. 7. DC Motor Bond Graph

PID stands for proportional, integral and derivative

respectively. The trial and error tuning method was
implemented for PID parameter tuning. This is mainly based
on guess-and-check. In this method the principal
Fig. 5. Bond graph of a single link contribution is the proportional action and it can be refined
by the integral and derivative action. There is a limit block
B. Parasitic Stiffness and Damping in the control mechanism. It will limit the output within a
To model each mechanical joint parasitic stiffness and specified range of values so that unrealistic values do not
damping are considered. Stiffness and damping are drive the motor. After the limit block there is a modulated
important criteria for many mechanical system designs. Stiff effort source. There are two types of effort source available
coupling springs are useful to use at mechanical joints to in bond graph. One is fixed and another one is variable. Here
eliminate derivative causality of the system. We can use we are using the variable effort source for different input of
parasitic stiffness and/or resistive elements to remove the motor suggested by the PID controller. After the motor
dependencies among energy storage elements [25]. Fig. 6 the transformer is converting the rotary motion into linear
shows the parasitic stiffness and damping structure used in motion.
the bond graph design.
C. Motor Modeling
In dc motor supplied voltage goes to armature through
serially connected inductor and resistance. Then armature
converts the supplied emf to mechanical output. To model
the DC motor in bond graph Inertia, Resistance and Gyrator
elements are used to represent the aforementioned criteria.
Motor shaft is modeled by inductive and resistive element.
Fig. 7 shows the bond graph model of the DC motor.
D. Control Mechanism
The mechanism being a single degree-of-freedom system,
the PID controller has been selected. PID will compare Fig. 8. Control Mechanism
between the present platform position and desired platform
position. Based on the discrepancies between the two heights V. SIMULATION
it will control the motor output. Fig. 8 shows the schematic
of the control mechanism. TABLE I SIMULATION RESULT
Simulation Parameter Configuration Output
Initial Height PID controller Time for Desired
= 5m Proportional gain = 10.0 {}; Height = 46 s
Desired Height = Derivative time constant Driving Link
6m = 5.0 {s}; Movement
Simulation Time Tameness constant = 0.07{}; (Backward)
= 50 s Integral Time Constant = 0.76 m
= 0.13{s}; Torque Required
= 620 Nm

Initial Height PID controller Time for Desired

=5m Proportional gain = 10.0 {}; Height = 43 s
Desired Height = Derivative time constant Driving Link
4m = 5.0 {s}; Movement
Simulation Time Tameness constant = 0.07{}; (Forward)
= 50s Integral Time Constant = 0.75 m
= 0.13 {s}; Torque Required
= 550 Nm
Fig. 6. Parasitic Stiffness and Damping

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 Fig. 9. Bond graph model of Scissor-lift mechanism with two rhombus stages
A. Simulation for Upward Movement (Desired Height = 6m, Initial Height = 5m)

Fig. 10. Platform desired height from initial height

Fig. 11. Required movement of the driving link in the base

Fig. 12. Velocity of the driving link

Fig. 13. Acceleration of the End Effector

B. Simulation for downward movement (Desired Height = 4m, Initial Height = 5m)

Fig. 14. Platform desired height from initial height

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 Fig. 15. Required movement of the driving link in the base
Fig. 16. Velocity of the driving link
Fig. 17. Acceleration of the End Effector
VI. SIMULATION RESULTS
For the first simulation the platform was vertically
displaced from 5 m (initial height) to 6 m (Fig. 10).
According to the scissor lift mechanism of the Fig. 2 the
driver link on the base should be in the backward direction
from its initial position at the point D to increase the platform
height from 5 m to 6 m (Fig. 11). Fig. 12 shows the velocity
of the driver link. Derivative of velocity gives acceleration
which is shown on Fig. 13. For the second simulation the
platform desired height was set to 4 m lower than its initial
height 5 m (Fig. 14). According to the mechanism the driver
link on the base should be in the forward direction at the
point D to decrease the platform height and platform height
should decrease from 5 m to 4 m (Fig. 15). Fig. 16 shows the
velocity of the driver link. Fig. 17 shows the acceleration of
the end effector for the required downward movement. Now
from the simulation we can say the resulted curves clearly
describes the functionality of the proposed model.
VII. DISCUSSION
This paper presents a fully controlled scissor lift
mechanism model. But unfortunately to compare the results
there are no such publications analyzing dynamics of the
scissor lift mechanism. The proposed model can describe the
whole dynamics (displacement, velocity, acceleration etc.)
where the input of the system is the motor torque. Another
important aspect of the model is the inclusion of the
mechanism controller. Most traditional approaches for
dynamic systems can’t include control. But bond graph
provides the significant advantage to include motor dynamics
and control. This is actually allows complete simulation of
automated dynamic systems. Another key advantage of the
bond graph framework modeling is its ability for fast analysis
of the mechanism. The scissor lift mechanism is not a very
fast response mechanism in terms of velocity and
acceleration but I would recommend their application for fast
linear motion in the industries. The mechanism can be used
to build high performance linear actuators for the industries.
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Here the bond graph modeling gives advantage than equation
modeling because it uses the graphical approach. This is very
fast and less difficult to implement. Bond graph utilize two
dimensional drawing relations which can be expressed more
naturally compared to equations in programming [26]. In the
simulation different parametric combination can be used to
simulate and see the responses. From the simulation output
several optimization ideas can be triggered. For example the
simulation can be used for motor torque optimization of the
scissor lift mechanism. As the bond graph simulations are
very fast, several parametric combination can be simulated
within a very short time. One of the disadvantages of the
proposed model is the software unavailability. For tuning the
PID controller here we have used the guess and check
method. But one can implement any other PID tuning
technique. In 20-sim the PID block contains tameness
constant. It influences the differentiating behavior.
Understanding that a PID loop is based on linear control, it
may not give the best results on a scissor-lift platform being
governed by non-linear equations.
VIII. CONCLUSION
In this study the dynamic behavior of a scissor lift
mechanism was modeled and simulated using a commercial
software package (20 sim). The functionality of the model
was verified through the application of desired output criteria.
For control of the mechanism a suitable controller was used
(PID controller). The simulation results show that the design
can almost simulate a real time application and the simulation
data can be effectively used for design optimization. For
industrial optimization professional software (i.e. Design
Expert, Minitab etc) can be used.
20 sim software package provided the bond graph
modeling and solving with a good level of flexibility. Even
though the program requires some time to learn with a
moderately steep learning curve, the automated model
generation feature can be of great help during the
development phase of any multibody systems.
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