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
W_manipulator
W_f
phi_min
phi_max
L_stage
N
num_teeth_drive_gear
dh_dl
torq_393
I_stall_393
I_free_393
n_393
torq_269
I_stall_269
I_free_269
n_269
rpm_motor_to_rpm_gear

40
0
1.5
15
75
12
3
12
2
14.76
4.8
0.37
4
8.6
2.6
0.18
0
3

%
lbs
lbs
deg
deg
in
teeth
in_lbs
amps
amps
in_lbs
amps

Design torque in % of torq_s

Weight of manipulator
Weight of single stage of lift
Minimum angle between arm
Maximum angle between ar
Total leg length per stage
Number of lift stages
teeth in gear used to conver
Change in single stage lift h
Spec motor
Spec motor
Spec motor
User set number of motors
Spec motor
Spec motor
Spec motor
User set number of motors
Gearing between motor and

Performance Summary
Calculated Values
Design torque in % of torq_stall
r_gear
0.25 in
radius of drive gear used to convert
Weight of manipulator
h_min_stage
3.1 in
starting height per stage
Weight of single stage of lift frame
h_max_stage
11.6 in
finishing height per stage
Minimum angle between arm and horizontal
h_min
9.3 in
total starting height
Maximum angle between arm and horizontal
h_max
34.8 in
total finishing height
Total leg length per stage
delta_h_stage
8.5 in
Change in lift height per stage
Number of lift stages
total_delta_h
25.5 in
Total change in lift height
teeth in gear used to convert rotary motion to linear motion
torq_motor
70.8 in_lbs
Available motor torque
Change in single stage lift height per change in actuator extens F_act
283.4 lbs
Total actuator force pushing on fram
Spec motor
I_total
8.6 amps
Total current draw at speed
Spec motor
W
45.0 lbs
Total payload capability
Spec motor
rpm_motor
60.0 rpm
motor rpm during lifting
User set number of motors
t_lift
8.1 sec
Lift extension time
Spec motor
Spec motor
Spec motor
Program assumes that elastic is used to compensate for
User set number of motors
slide and joint friction losses. If elastic is used between
Gearing between motor and drive gear
horizontal joints then lift will move slower as it raises
thus increasing lift extension time.

drive gear used to convert rotary motion to linear motion

eight per stage
height per stage

n lift height per stage

nge in lift height
motor torque
ator force pushing on frame
ent draw at speed
oad capability
m during lifting