International Journal of Science and Research (IJSR)

ISSN: 2319-7064
ResearchGate Impact Factor (2018): 0.28 | SJIF (2018): 7.426

Dynamic Analysis of The Hydraulic Scissors Lift

Mechanism
Bekir Cirak
Karamanoglu Mehmetbey University, Engineering Faculty, Mechanical Engineering Department, Yunus Emre Campuses, Karaman, Turkey

Abstract: In this study, model of lifting platform consisting of scissors and hydraulic cylinder is formed. Static state equations have
been used for the mathematical model of the mechanism. The weights and mass inertia moments of the platform members and the upper
table have been neglected. Vehicle load as a point force, the top of the table is closed at the moment when the mechanism is effective.
The sliding in the joints have been neglected.The mechanism is modeled and simulated in order to evaluate several application-specific
requirements such as dynamics, position accuracy etc. The system has a 5 degree of freedom. The simulation gives different link lengths
of the mechanism over a linear displacement.

Keywords: Vehicle, Mechanism, Lift, Modeling

1. Introduction Scissor lifting mechanism is the first choice for automobiles

and industries for elevation work. There are several
The lift mechanism is a form of construction used in the procedures for deriving dynamic equations of rigid bodies in
automotive industry. Infact, they are platform mechanisms classical mechanics (i.e. Classic Newton-D’Alembert,
that are used in high places that arein accessible because it is Newton- Euler, Lagrange, Hamilton, Kanesto name a few).
a lifting forwarding machine. Scissor-type systems are But these are labor-intensive for large and complicated
frequently used as lifting systems in the industry. The systems there by error prone. The describes the
systems are mainly preferred to do maintenance, repair, and implementation of general multibody system dynamics on
clean. Lifting systems are generally used for purposes of Scissor lift Mechanism (i.e. four bar paralel mechanism) [3].
lifting a load or providing at unreachable heights.
Nowadays, many lifting systems are designed to be used for 2. Lift Mechanism and Geometry
various purposes in industry. These systems can be used in
multi-purpose applications and a range of services such as The complete system model of the scissor lift mechanism
cleaning services, maintenance-repair activities, load lifting shown Figure1.The parts of this mechanisms are rampa,
and lowering activities. Airports and indoor stadium are platform, scissor links, revolute and slider joints, hydraulic
examples of these. Lifting systems can be classified as cylinder and base port. Techinical datas of lift mechanisms
telescopic lifts, articulated lifts, and scissor lifts [1-2]. are lifting capacity 3500 kg, lifting height 2000mm , lifting
time 50 s, electrical requirement 220 / 380 v, Motor power
2.2 kw

Figure 1: Scissor Lift Mechanism [4]

Figure 2 shown single scissors and single hydraulic and angles of the hydraulic piston change in the cylinder.
cylinders are designed. Scissors are 4 rotational, 2 sliding Here is the actuator hydraulic cylinder.
link as are 5 DOF ( Degree of Freedom). The height, 𝜃 and β

Volume 8 Issue 12, December 2019

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Licensed Under Creative Commons Attribution CC BY
Paper ID: ART20203311 DOI: 10.21275/ART20203311 641
 International Journal of Science and Research (IJSR)
ISSN: 2319-7064
ResearchGate Impact Factor (2018): 0.28 | SJIF (2018): 7.426

Figure 2: Geometry of Scissor Lift Mechanism [5]

Where L: scissor arm length, H: hydraulic arm height, X:

length of upper table in closed condition, X1: distance
between load application point and sliding joint, H: height of After the equations related to the forces on the work
mechanism platform, 𝜃: angle between link and horizontal platform were obtained, the system was started to be solved
axis, β: hydraulic angle between cylinder and horizontal by applying the reaction forces to the profiles again (Figure
axis[5]. 4).

3. Mathematical Model
The dynamic analysis of the system was carried out with
load and reaction forces on the platform (Figure3). There
action forces were re-applied to the system despite the force
equations (Figure4). In order to obtain the joint forces, free
body diagrams of the systems were taken in to consideration.
The weights of the system components are neglected. The
angle between the link and the base plate was obtained
according to the angle β and the total F between the
hydraulic plate and the base plate. (1-5) equations are given
as analytical solution of thesystem. The forces are shown as
Fijxy. The combination of the i and j links with each other, x
and y show the direction of the forces. Fijxy and Fjixy are the Figure 4: Link 2 Free Body Diagram
same numerical values. Signs vary from positive to negative.
Also, the angles α and β can be calculated for all positions of At the junction points,
the platform [6].

3.1. Analytical Calculations

Piston force is calculated as shown in equation (6) according
The force analysis of the system was first performed by to analytical calculations.
defining the load and reaction forces on the work platform
(Figure 3).

By way of example, the piston force is obtained in

accordance with the analytical calculations as shown in
equation (6). Other forces were obtained in the same way as
an equation and transferred to Excel program and numerical
values occurred (Table 1).

Table 1: Comparision Experimental and Nümerical

Variables
Joint (Angles, Forces) Nümerical (o, N) Expermental (o, N )
α 8.35 o 8.35 o
Figure 3: Link4 ( Platform ) Free Body Diagram β 22.49 o
22.49 o
F 3386 3382
Fpiston 31674 31666
FAy 1565.8 1564.7
FB y -1834 -1833.7
F21x 24065 24067

Volume 8 Issue 12, December 2019

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Licensed Under Creative Commons Attribution CC BY
Paper ID: ART20203311 DOI: 10.21275/ART20203311 642
 International Journal of Science and Research (IJSR)
ISSN: 2319-7064
ResearchGate Impact Factor (2018): 0.28 | SJIF (2018): 7.426
F21y -280.5 -281 +→ 𝐹𝑥 = 0 𝐹21𝑥 + 𝐹23𝑥 + 𝑐𝑜𝑠𝛽 𝐹𝐻 = 0
F41x 24056 24061 (9)
F41y 1863.1 1863.1 +→ 𝐹𝑦 = 0 𝐹21𝑦 + 𝐹23𝑦 + 𝐹24𝑦 + 𝑠𝑖𝑛𝛽 𝐹𝐻 = 0
F32x 24081 24082 (10)
F32y 1589.7 1589.7 +↺ 𝑀01 = 0 −0.5𝐿𝑠𝑖𝑛𝜃 𝐹23𝑥 + −0.5𝐿𝑐𝑜𝑠𝜃 𝐹23𝑦 +
F43x 68556 68560 −𝐿𝑐𝑜𝑠𝜃 𝐹24𝑦 = 0 (11)
F43y 268.7 270.8
The F forces and the M moment equations (12,13,14) are
shown in the free body diagram and Figure 7.
Mathematical modeling was done with two different
classification. These are kinematic and dynamic
models.Kinematic equations, according to Fig.2, 𝜃 the
relation between and β is given in equation (7). The equation
(7) is formed by the following procedure [7].

Figure 7: F Forces of Link 3

The relation for distance X1 is given in equation (8)

according to the geometry of platform and order of
operation.This state shown in Figure 5. +↺ 𝑀02 = 0 0.5𝐿𝑠𝑖𝑛𝜃 𝐹23𝑥 + −0.5𝐿𝑐𝑜𝑠𝜃 𝐹23𝑦
5
+ −𝐿𝑠𝑖𝑛𝜃 𝐹34𝑥 + −𝐿𝑐𝑜𝑠𝜃 𝐹34𝑦 + 𝐿𝑠𝑖𝑛𝜃 𝑐𝑜𝑠𝛽𝐹𝐻
8
5
+ 𝐿𝑐𝑜𝑠𝜃 𝑠𝑖𝑛𝛽𝐹𝐻 = 0
8
+↺ 𝑀02 = 0 0.5𝐿𝑠𝑖𝑛𝜃 𝐹23𝑥 + −0.5𝐿𝑐𝑜𝑠𝜃 𝐹23𝑦
5
+ −𝐿𝑠𝑖𝑛𝜃 𝐹34𝑥 + −𝐿𝑐𝑜𝑠𝜃 𝐹34𝑦 + 𝐿𝑠𝑖𝑛(𝜃 + 𝛽)𝐹𝐻 = 0
8
Figure 5: Geometry of Platform (14)
𝑥 = 𝐿. 𝑐𝑜𝑠 𝜃𝑚𝑖𝑛
𝑥1 = 𝑥 = 𝐿. 𝑐𝑜𝑠 𝜃𝑚𝑖𝑛 (8) The F forces and M moment equations (15, 16, 17) for the
Link1were formed according to the geometry and Free Body
Closed condition in the mechanism: θmin = 8° Diagram (in Figure 8) shown below.
𝑥1 = 𝐿𝑐𝑜𝑠𝜃 − 0,5𝑥

Dynamic equations,The F forces for the Link 2 serbest cisim

diyagramında and the M moment equations (9,10,11) are
generated according to the geometry in Figure 6 shown
below.

Figure 8: F Forces of Link 1

Because the F34x force is 0, the linear equation set can be

formed after being removed from other equations.

Figure 6: F Forces of Link 2

Coefficients Matrix:

Volume 8 Issue 12, December 2019

www.ijsr.net
Licensed Under Creative Commons Attribution CC BY
Paper ID: ART20203311 DOI: 10.21275/ART20203311 643
 International Journal of Science and Research (IJSR)
ISSN: 2319-7064
ResearchGate Impact Factor (2018): 0.28 | SJIF (2018): 7.426
Hydraulic Circuit advice during the conduct of this research and Chief Mr.
The hydraulic circuit of scissor lifting system was created Sabit GOKTAS also of ADA PLATFORM Co. for his
with the help of Fluid-Sim Hydraulic Package Program in help in the preparation of this paper.
Figure 9. The circuit is mainly consisted of a this Figure
9.The systems ends the pressurized oil to the pressure Reference
sequencing valve through pressure unit and the filter. The
fluid oil open the pressure sequence valve and it sends to [1] Beer, F.P.,Johnston, E.R., Eisenberg, E.R., Clausen,
directional control valve and hydraulic accumulator under W.E.2007.Vector Mechanicsfor Engineers: Static&
working pressure. After hydraulic accumulator has been Dynamics, ISBN 978-0-07-297698-4, McGraw-Hill,
charged to a sufficient pressure, hydraulic cylinder move New York, USA.
swithc changing the position of the directional control valve. [2] BeqirHamidi, “Design andCalculation of theScissores-
The speed of the hydraulic cylinder can be controlled by a typeElevating Platform,” Open Journal of
bidirectional flow control valve[8]. SafetyScienceandTechnology, vol. 2, pp. 8-15, 2012.
[3] D. Karnopp, D. L. Margolis, and R. C. Rosenberg,
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Inc.,Hoboken, New Jersey, 2005. J. Clerk Maxwell, A
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Oxford:Clarendon, 1892, pp.68-73.
[4] Hongyu, T.,Ziyi, Z. 2011. "Design andSimulationBased
on Pro/E for a Hydraulic Lift Platform in ScissorsType"
ProcediaEngineeringno. 16, p. 772-781.
[5] J. J. McPhee, “On theuse of lineargraphtheory in
multibodysystemdynamics,” Nonlinear Dynamics, vol. 9,
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[6] L.W. Tsai, Mechanism Design Enumeration of
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Figure 9: Hydraulic Circuit of Lift Mechanism [8]

4. Conclusion
The study was carried out successfully according to the
study plan. The out-come of the hydraulic scissors lift design
meets the objective of the study. As a result, the study
designed the electro-hydraulic parallelogram lift. The
general section described the classification, purpose and
technical characteristics of the lift and the mechanism and
operation principle of the designed lift. In the design section,
the lift calculation is done, where the forces acting in the
cylinder and emerging stresses in the system were
calculated. A 3D model was created. After completed this
study, I have gained some skills and knowledge in this field.
I have learnt many things in terms of utilizing engineering
mechanisms in a proper manner. Finally, the experience I
have obtained through out this Project will certainly help me
to be a creative engineer in the future.

5. Acknowledgement
This study was supported by ADA PLATFORM Co.
Research Center in Karaman / Turkey. The authors would
like to thank Head Office of ADA PLATFORM Co. for his
Volume 8 Issue 12, December 2019
www.ijsr.net
Licensed Under Creative Commons Attribution CC BY
Paper ID: ART20203311 DOI: 10.21275/ART20203311 644