Scissor lift calculations

Written by Vamfun 6/1/2012 Vamfun@yahoo.com Mentor 599 and 1508

Vertical Linear slide actuating lift… 12 tooth gearing
inputs
percent_torq_stall 40 % Design torque in % of torq_stall
W_manipulator 0 lbs Weight of manipulator
W_f 1.5 lbs Weight of single stage of lift frame
phi_min 15 deg Minimum angle between arm and horizontal
phi_max 75 deg Maximum angle between arm and horizontal
L_stage 12 in Total leg length per stage
N 3 Number of lift stages
num_teeth_drive_gear 12 teeth teeth in gear used to convert rotary motion to linear motion
dh_dl 2 Change in single stage lift height per change in actuator extens
torq_393 14.76 in_lbs Spec motor
I_stall_393 4.8 amps Spec motor
I_free_393 0.37 amps Spec motor
n_393 4 User set number of motors
torq_269 8.6 in_lbs Spec motor
I_stall_269 2.6 amps Spec motor
I_free_269 0.18 Spec motor
n_269 0 User set number of motors
rpm_motor_to_rpm_gear 3 Gearing between motor and drive gear
Performance Summary
Calculated Values
r_gear 0.25 in radius of drive gear used to convert rotary motion to linear motion
h_min_stage 3.1 in starting height per stage
h_max_stage 11.6 in finishing height per stage
h_min 9.3 in total starting height
h_max 34.8 in total finishing height
delta_h_stage 8.5 in Change in lift height per stage
total_delta_h 25.5 in Total change in lift height
torq_motor 70.8 in_lbs Available motor torque
F_act 283.4 lbs Total actuator force pushing on frame
I_total 8.6 amps Total current draw at speed
W 45.0 lbs Total payload capability
rpm_motor 60.0 rpm motor rpm during lifting
t_lift 8.1 sec Lift extension time

Program assumes that elastic is used to compensate for

slide and joint friction losses. If elastic is used between
horizontal joints then lift will move slower as it raises
thus increasing lift extension time.