60 in double reverse 4 bar linear linkage example

Here are some pictures of how a double reverse 4 bar using Vex 35 hole link arms. The main challenge is constructing a stable geometry. The lift has a middle link gear train to move the upper 4 bar in sync with the lower 4 bar.

Torque

Approx torque (inlb) required = 2*l_arm*(W_payload_lbs + W_lift_lbs + W_manipulator_lbs)*cos(angle)

height_delta = 2*l_arm*( sin(angle_finish) –  sin(angle_start))

where l_arm is the distance between pivots of the arms in inches, W_payload_lbs is game piece weight, W_lift_lbs  is the weight of the 3 arms used in the lift , W_manipulator_lbs  is the weight of the gripper attached to the upper arm and angle is defined relative to the horizontal.  The max torque occurs when the arms are horizontal or angle • 0 .

If you want to lift 4 1 lb Skyrise cubes with a 3lb lift weight , a 1 lb  gripper and a l_arm of 16 in you would need about 256 in lbs of torque.

As a rule of thumb I use 6 inlb of torque per motor for sizing  the number of motors.  This assumes 2  inlbs of elastic support , 1 inlb of friction and 3 inlbs from active current (about .9 amps) hold per motor used.   With these assumptions a 10:1 gearing and 4 393 motors might do the job.    The lift would take about 5 seconds to go full travel.  I’ll show a more exact torque derivation later.

Height change

With an  angle_finish = 75 deg and the angle_start= -60 deg  a 16 in arm reaches 59 in.  A 16.5 in arm reaches 61 in.   With a chain bar you could  clear an in or two more.20140608-214047.jpgSo 20140608-214101.jpg 20140608-214114.jpg

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6 Responses to 60 in double reverse 4 bar linear linkage example

  1. ifti says:

    Would the motors for the lift be mounted on the 5 hole wide c-channel, or to the l-bar?

    • vamfun says:

      On the 5 hole wide . Typically drive the lower or both arms with sprocket connected with HS chain to motors mounted as low as possible to keep CG low.

  2. Curi says:

    What do you mean by The max torque occurs when the arms are horizontal or angle • 0 ?

    • vamfun says:

      See the lift position pictured in the middle figure. Angle is defined as the angle between the horizontal and the arm connected to the tower.

  3. Hi says:

    What do you mean by cos(angle)

    • vamfun says:

      Cos(angle) is the trigonometric cosine function of the angle. In a right triangle this is the ratio of base / hypotenuse sides. Need a little trigonometry to understand this😎

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