AD-A283 906 1ti Oir liiiu r~ 111H I Ii II

Technical Document 2643 May 1994

Mathematical Analysis of Actuator Forces in a Scissor Lift

H. Spackman

DTIC

<'-O

94-27990

Approved for public releame; diseVbulon is unlimted.

#3 3 0 :06 94

QU LV

~D CIN, i

Technical Document 2643

May 1994

Mathematical Analysis of Actuator Forces in a Scissor Lift

H. Spackman

NAVAL COMMAND, CONTROL AND OCEAN SURVEILLANCE CENTER RDT&E DIVISION San Diego, California 92152-5001
K. E. EVANS, CAPr, USN Commanding Officer R. T. SHEARER Executive Director

ADMINISTRATIVE INFORMATION
This work was performed for the U.S. Army, Army Missile Command, Redstone Arsenal, AL 35898, under program element 0604370A and accession number DN308274, by the Systems Engineering Branch, Code 536, of the Naval Command, Control and Ocean Surveillance Center (NCCOSC), RDT&E Division, San Diego, CA 92152-5001. Released by J. P. Bott, Head Systems Engineering Branch Under authority of D. W Murphy, Head Advanced Systems Division

DTIC T:
' D!, .-! -*[

BY -- .--------'---..

ITlet.

LR

1.0 ABSTRACT
In 1985. NCCOSC began development of a tele-operated vehicle as part of the U.S. Marine Corps' 'nd-Air Tele-Robotics Systems Program. One of the required vehicle components i rigid, light-weight, and compact lift mechanism capable of deploying a surveilluice package 10 feet above the vehicle bed. The lift mechanism that was eventually built and implemented was a 3-level scissor lift. In order to analyze the forces throughout the lift structure, a set of mathematical equations was derived. From these equations it was discovered that prudent placement of a lift's actuator can significantly reduce the forces required of the actuator and the stress levels in the adjacent scissor members. The purpose of this paper is to present the equations that were derived for analyzing the actuator forces. Using these equations, a designer can quickly determine the optimal locations for mounting an actuator and the resulting forces.

2.0

- DUCTION

In reference (1), equations are deri, ,d fo- determining the reaction forces throughout a scissor lift. To facilitate analysis, reference , _')divides the problem into two parts. In the first part, equations for a basic scissor structure - a scissor structure with no actuators and with all four bottom joints pinned to "ground" - are werived. In the second part. equations for calculating the actuator forces are derived. A later section dis.asses how these equations can be used to calculate the reaction forces throughout the scisso. structure. The actuator force equations in reference (1) are derived assuming taj: one or both of the actuator ends lie along the longitudinal axis of the scissor members. In practice, this is seldom the case because increased mechanical advantage and improved fitment can be obtained by offsetting the actuator ends. An attempt was made to derive equations that are valid for any actuator placement, but the solutions were not found until after publication of reference (1). The purpose of this paper is to present the equations for the more general case.

3.0 DERIVATION OF EQUATIONS

As in reference (1), the actuator force equations will be derived assuming conservation of energy and quasistatic equilibrium. The first assumption implies that frictional forces are negligible, and the second that acceleration is negligible. In the material that follows, an equation referred to as the fundamental equation is first derived. This equation expresses actuator force as a function of the derivative of lift height to actuator length, i.e.,

F =f (dh

Following this. equations for dh/dl are derived for the two possible methods of mounting actuators. Substituting the equations for dh/dl into the fundamental equation gives the final result. 3.1 DERIVATION OF THE FUNDAMENTAL EQUATION An n-level lift is shown in figure (1) along with the possible loads that can be applied to the top of the lift and some dimensional nomenclature. Of the six possible applied loads (see figure (1)) only Hx and Hy result in work as the lift elevates, and Hx results in work only if the platform translates in the x-direction as the lift elevates. Because the lift itself is a significant part of the load, its weight must be included in the derivation. Let B equal the total weight of the lift, B, and Bz the components of B in the x, and z directions respectively, and By the component of B in the negative y direction. As with the applied loads, only B, and By result in work as the lift elevates. If the lift's mass is evenly distributed then the weight of the lift can be modeled by placing By /2 at the top of the lift and B,,/2 at the translating side of the lift. The validity of this statement is illustrated as follows. Consider the mass shown in figure (2). The total potential energy of the mass can be approximated by

E =

Am -- 0

lim

"gPuwAvy,

where

g = acceleration due to gravity

p = density.

Passing to the limit gives

h

E = Jgpuwvdv.

Now, if the mass of the object is evenly distributed over its height then W pguw= h

where W = total weight h = height.

Hx HMy

Hxx

Figure 1. Nomenc a

LEVEL

S~

LEVEL i

,====

.LEVEL

i+1

Figure 1. Nomenclature.

Figure 2. Arbitrary Mass.

Making the appropriate substitution results in

h

=
0

Wy4dy

Y 10 2hy
wit

2 Now, if the block height increases but the total weight stays the same then AE = E2-Et - (h 2 - hi) 2 This is the desired result. Figure (3) shows a four level lift with the loads that result in work as the lift elevates. Remember that Hx contributes only if the platform is attached to the joints that translate in the x-direction as the lift elevates. In most designs this is not the case, and Hx would be disregarded. Now, the assumption of conservation of energy requires that work in equals work out. In other words, if F = actuator force and 1= actuator length then

1I

JFdl

hI

, +-!,)dA-

u1

(H, +du

Taking the derivative of both sides with respect to 1 results in

_ ( nx + .)x 1d

(EQ 1)

But an expression for duldl in terms of dh/dl can be found as follows. From figure (1) it is clear that

1/2 h = n(D2 -u2)

Hy + By/2

0_

_---

Hx + Bx/2

Figure 3. 4-level lift with loads that result in work.

dh dl

In (D 2 - u 2 ) 1 /2 (-2u)d dl 2 dii -nu (D 2 _it2) 1/2 dl

-n du

tan 0 dl

Solving for du/dl gives

du dl

tan0dh ndl

Substituting this last equation into equation I results in

F-

.0

(EQ 2)

This is the fundamental equation. Having derived the fundamental equation, the next step is to derive expressions for dh/dl as a function of actuator placement and 0 (see figure 1). Two options exist for mounting actuators. The first option is to attach both ends of the actuator to scissor members. In this case both ends of the actuator translate as the lift elevates. The second option is to attach one end of the actuator to a scissor member and the other end to a fixed point. In the next two sections equations for determining dh/dl are derived for each option. 3.2 DERIVATION OF dh/dl FOR OPTION 1 Figure (4) shows an n-level Aft at several stages of deployment. The fully retracted and fully extended positions are, of course, impractical but are included to show useful terminology. The x-y coordinates of the offset point on the positively sloping member of level i are given by x = x0 cos0 + x 9 0 sin0
y = y 90 sin0+y
0 cos0.

(Notice that x90 is negative in figure (4)). However, these formulas are also valid for offset

LEVEL 1

X00

LEVEL i

o
00

oo

yo

LEVELn
x
x 90

Sy

FULLY RETRACTED

PARTIALLY EXTENDED

FULLY EXTENDED

Figure 4. n-level lift at vi

us stages of deployment.

points associated with positively and negatively sloping members of any level. Now given any two points A and B. the distance between the points is given by

12

= =

(xB

x.4) 2 + (.B -..-

) 2

[ (XBo-X.40 ) cosO + (xB90 - X49o)

sinO]

2 + I (.BQO -

'.49o) sin0 + (YBo -- YAo) cosO] 2

(acosO - bsinO) 2 + (csinO + dcoso) 2

(EQ 3)

where

Ui=
b
=

XBO-

= YB90--YAQ.90

xB90 - X 4 9 0

YBo-YAO

Taking the derivative of / with respect to h gives

21d

[2 (acosO + bsinO) (-asinO + bcosO) + 2 (csinO + dcosO) (ccosO

dsinO) I LO dh'

and solving for Lhresults in

dI

2 1dh

dl

2 (acosO + bsinO) (-asinO -bcos0) + 2 (csinO + dcosO) (ccosO -dsinO)

Solving for 1 in equation (3) gives

I = [ (acosO + bsino) 2 + (csinO +dcoso) 2 ]11

From figure (1) it is clear that (EQ 4)

h = nDsin0 dh = nDcosO dO

Making the appropriate substitutions results in

dh ;

nscosO [ (acosO + bsino) 2 + (csinO+dcoSO) 2 ] 1/2 (acos8 + bsinO) (- asinO + bcosO) + (csin0 + dcose) (ccosO - dsinO)

(EQ 5)

Equations (2) and (4) together give the final result. 3.3 DERIVATION OF dh/dl FOR OPTION 2 The equation for dh/dl for the 2nd option is derived using a slightly different approach. Figure 5 shows the incremental displacement of an offset point Q (presumably where one end of the actuator is attached). The coordinates of point Q are given by
XQ = XaQCos 0 + XQ 9 0sin0
YOC = yo
0

(EQ 6)

Sin0flu +.Q0

(EQ 7)

Taking the derivative of both equations results in

dx()
_Q0sin0
+ XQo 0COS0

dO "dy() =.YoS0-Yo0sin0
dO
QCOOYSfl

(EQ 8) dYQ'
--

dy
Now, dytQ dxo can be found by dividing

dxQ'

C by -d-. d Doing so results in

dyQ) dx,

YQ9O cos 0 - YQO sin 0

-XQ 0 sin 0 + XQgCos0

An equation for (see figure (5)), then, is

( YQ9ocosO -YQosinf0" "a(xQ0

sin0 - Xo9ocos0J"

10

PATH OF ACTUATOR END

dll

1\1

dxQ

/ /\

LONGITUDINAL AXIS OF ACTUATOR

Figure 5. Incremental displacement of actuator end.

11

From figure 5 it is clear that

dv- = sin,
ds

(EQ 9)

and that
ds = ___ sin 7i di

-cos (71+ 90) -1 cos( +)

(EQ 10)

Taking the derivative of EQ (4) with respect to yQ results in

dh = nDcosO dO
dyc, dyQ

But, from equation 6 we have

d_.A =I
dv C Y0 9 0 cosO-yQOsinO

which when substituted into the previous equation results in

dh =
dV(

nD
YQ9O - YQ0tan0

(EQ 11)

12

Now, we can combine equations 9, 10, and 11 to obtain

dh A dl

dh d4v) ds dyv ds dl -nDsin

(YQ 90 -.Vo0 tan 0) cos (4? + If the other end of the actuator is attached to a fixed point, P, then
(Yo-YPI

atanxo.-xp

In summary
Xo = Xo0Cos 0 + XQ 90 sin0
YQ =

YQ90sin0 +YQocOSO
xo Xp

=atan (YQ--YP)
-

S=atan(Y, OYoSfl XQ sin0

0

(Y090 COS 0 - Y00 sin 0- XQ 90 cos0)

dh A dl

-nDsin

(yQgo -yQ0tan 0 ) cos ( +4)"

4.0 CONCLUSION A critical component of scissor lift design is the placement of the lift's actuator(s). Prudent placement can reduce the force required of the actuator(s) and reduce stress levels in the scissor structure. By assuming conservation of energy and quasi-static equilibrium, it is possible to derive an equation that gives actuator force as a function of the derivative of lift height to actuator length, i.e., F =.fidh/dl). This equation is referred to as the fundamental equation in this paper, and the result is equation (2) of section 3.1. Having found this equation, the next step is to derive an equation for dh/dl as a function of angular displacement of the scissor members. However, there are two possible options for mounting an actuator, and the derivation of dh/dl is different for each option. The first option is to attach both ends of the actuator to scissor members, and the second is to attach one end of

13

the actuator to a scissor member and the other end to a fixed point. The derivations of dl dl for the two options are given in section 3.2 and 3.3 respectively. By combining the fundamental equation with the appropriate equation for dh/dl, the designer can quickly determine the optimal locations for mounting the actuator.

14

REPORT DOCUMENTATION PAGE

Foirm APProved OMB No. 0704-0188

Pu~ic reporting burden for th collection of informalin is estin',ed to average 1 hour per response, inckjding the time for revinwing istructions, searhing existing Ma sources. gathenng and maintaining the data needed, and completing and revieng the collactionof inromation. Send cornrrents regarding this burden estie or any other aspeca otthis collection of i nfomlaion. including suggeatiorn for reducing the burden, to Washington Headquarters Senrices, Directorate for Infornation Operations and Reports, 1215 Jefferson Davis Highway, Suite 1204, Arlington, VA 22202-4302. and to the Office of Management and Budget, Paperwork Reduction Protect (0704-0188), Washington, DC 20503 1. AGENCY USE ONLY (Leam blank) 2 REPORT DATE 3 REPORT TYPE AND DATES COVERED

May 1994
4 TITLE AND SUBTITLE

Final
5, FUNDING NUMBERS

MATHEMATICAL ANALYSIS OF ACTUATOR FORCES IN A SCISSOR LIFT

6.AUTHOR(S)

PR: CH58

PE: 0604370A
WU: DN308274
a. PERFORMING ORGANIZATION ORGANIZATION NAME(S) AND ADDRESS(ES)

H. Spackman
7. PERFORMING

Naval Command, Control and Ocean Surveillance Center (NCCOSC) RDT&E Division San Diego, CA 92152-5001
9- SPONSORING/MONITORING AGENCY NAME(S) AND ADORPSS(ES)

REPORT NUMBER

10. SPONSORING/MONITORING AGENCY REPORT NUMBER

U. S. Army Army Missile Command Redstone Arsenal, AL 35898

11.SUPPLEMENTARY NOTES

TD2643

12a DISTRIBUTION/AVAJLABiLITY STATEMENT

12b. DISTRIBUTION CODE

Approved for public release; distribution is unlimited.

13. ABSTRACT (MJrnsum 200 words)

In 1985, NCCOSC began development of a teleoperated vehicle as part of the U.S. Marine Corps' Ground-Air Tele-Robotics Systems Program. One of the required vehicle components was a rigid, light-weight, and compact lift mechanism capable of deploying a surveillance package 10 feet above the vehicle bed. The lift mechanism that was eventually built and implemented was a 3-level scissor lift. In order to analyze the forces throughout the lift structure, a set of mathematical equations was derived. From these equations, it was discovered that prudent placement of a lift's actuator can significantly reduce the forces required of the actuator and the stress levels in the adjacent scissor members. The purpose of this paper is to present the equations that were derived for analyzing the actuator forces. Using these equations, a designer can quickly determine the optimal locations for mounting an actuator and the resulting forces.

14. SUBJECT TERMS

15. NUMBER OF PAGES

Surrogate Teleoperated Vehicle (STV)

21
16. PRICE CODE

Teleoperated Vehicle (TOV)

telerobotics
17. SECURITY CLASSIFICATION OF REPORT

unmanned ground vehicle

18. SECURITY CLASSIFICATION OF THIS PAGE 19. SECURITY CLASSIFlCATION OF ABSTRACT 20. LIMITATION OF ABSTRACT

UNCLASSIFIED
NSN 750-01-280-5500

UNCLASSIFIED

UNCLASSIFIED

SAME AS REPORT
Standard form 298 (FRONT)

21 a NAME OF RESPONSIBLE, NOIVIUAL

21 b. TELEPHONE (inck-e/ eA Co0d)

21c. OFFICE SYMBOL

H. Spackman

(619) 553-6110

Code 536

NSN 754001 -210-810

Sta04=f

Ionl 2O (BAC1)

INITIAL DISTRIBUTION
Code 0012 Code 0274 Code 0275 Code 50 Code 53 Code 532 Code 535 Code 536 Code 536 Code 581 Patent Counsel Library Archive/Stock H.O. Porter D.W. Murphy C. D. Metz M. R. Solorzano J.P. Bott H. M. Spackman B.L. Croft (1) (2) (6) (1) (1) (3) (1) (1) (15) (1)

Defense Technical Information Center Alexandria, VA 22304-6145 NCCOSC Washington Liaison Office Washington, DC 20363-5100 Center for Naval Analyses Alexandria, VA 22302-0268

(4)

Navy Acquisition, Research and Development Information Center (NARDIC) Arlington, VA 22244-5114 GIDEP Operations Center Corona, CA 91718-8000