Mechanics of Machines

Scissor Lift Mechanism

Group Members:
Husnain Siddique (170501044)
Kashan Asghar (170501047)
 Objectives
 To develop a concept of cross linkages and their use in scissor lifts to be used in confined
spaces for vertical lift.
 To apply mechanics of machines’ concepts to calculate mobility of system.
 To calculate maximum and minimum angles possible for linkages to determine range of lift.
 To perform position, velocity, and acceleration analysis of all the linkages to determine
these parameters at any value of applied input angles, velocity, acceleration applied on input
links.

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 Problem Statement
 A scissor mechanism of certain height and certain number of linkages is given. The movement
or motion of each link is obviously different at each height and angle position.
 First, we will consider the suitable configuration of design from which each parameter can
easily be found out. Then position of each link must be find on that extreme values which we
decided earlier.
 Using the angles of position, velocity analysis will be performed. Similarities in velocities of
link components will be used as advantage for our analysis.
 After that acceleration which is the core component because it later determines the forces on the
links for the weight on upper base plate will be determined.

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 Introduction
 A scissor lift or mechanism is a device that is used to extend or compress to position a platform
by mechanical means.
 The term scissor comes from the mechanism involved which has folding supports and is
configured in crisscross X pattern.
 The extension or displacement motion in linkages is obtained by the applying the force to one
or more support which results in elongation of the cross-pattern linkages.
 The force producing extension or displacement can be hydraulic, pneumatic or any mean of
mechanical nature like lead screw or rack and pinion system etc.

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 Introduction
 The most popular lifting systems used in the industry are scissors lifting systems. These systems
are especially used for maintenance, construction and cleaning.
 In the scissors lifting systems, the platforms are elevated by opening the linkages in crisscross
pattern which are connected to each other by hydraulic cylinder.
 Each of the platform has a certain load carrying and height limitation.
 In the mechanical design of the platform, the sizes of linkages, the selection of hydraulic
cylinder and electric motor are most important factors in terms of efficient design and user
safety.

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Calculations

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 Maximum angles
Where
l = the length of the arm

l/2 = half-length of the arm

l/2(cosθ) = m = middle distance between the arm at center pivot

point

l/2(sinθ) = r = height of the arm in opening position from center

pivot point.

(l/2)2 = (m2 + r2)

sinθ =

= sin-1 ()

Taking derivative
= ωmax =

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 Minimum angles
Where
l = the length of the arm

l/2 = half-length of the arm

l/2(cosθ) = X/2 = middle distance between the arm at center pivot

point

l/2(sinθ) = q/2 = height of the arm in closing position from center

pivot point.

sinθ =

= sin-1 ()

Taking derivative
= ωmin =

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 Mobility
We calculate the mobility by using the formula
M = 3(n - 1) - 2jp - jh
Where
n = no. of links
jp = primary joints
jh = secondary joints
n=8
jp = 10 (8 pins and 2 slider)
jh = 0
M = 3(8 - 1) – 2(10) – 0 = 21 – 20 = 1

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 Click icon to add picture

Position Analysis
 Due to symmetry length of each link is same and
known i.e. l.
 The half part of the links are denoted as r32 , r23 etc.
each having same length i.e. l/2.
 Bold characters are representing the vectors
throughout the calculations.
 Using the figure for further calculations.

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 From link 1, 2 and 3
Consider point-P8 as a fixed-point origin.
r1 = (-2m) i (position of point-P7)
=
r32 = (r32cos)i + (r32sin)j
r23 = r32 + r1
r23 = r32x + r32y + (-r1x)
r23 = (r32x -r1x) + r32y (position of point-P6)
= ’ = tan-1(r32y / r32x -r1x)
= 180 - ’

Since the length of link 2 and 3 is same and angles are known, therefore.
r2 = (-r2cos)i + (r2sin)j (position of point-P4)
r3 = (r3cos)i + (r3sin)j(position of point-P5) 11
 From link 2 and link 5
Since
r2 = (r2cos)i + (r2sin)j

Due to symmetry =
r51 = (r51cos)i + (r51sin)j (position of point-P3 w.r.t point-P4)

Consider a vector from point-P8 to point-P3 = rT1

rT1 = r2 + r51

rT1 = (-r2cos + r51cos)i + (r2sin + r51sin)j (position pf point-P3 w.r.t point-P8)

Again, considering another vector from point-P8 to point-P2 = rT2

rT2 = r2 + r5

r5 = (r5cos)i + (r5sin)j (position of point-P2 w.r.t point-P4)

Hence both the vectors r2,r5 are completely known with their lengths and angles , therefore;
rT2 = (-r2cos + r5cos)i + (r2sin + r5sin)j (position pf point-P2 w.r.t point-P8)
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 From link 3 and 4

Consider a vector from point-P7 to P1 = rT3

rT3 = r3 + r4

Both the vectors are completely known with their lengths and angles. Hence,
r4 = (-r4cos)i + (r4sin)j (position of point-P1 w.r.t point-P5)

r3 = (r3cos)i + (r3sin)j

rT3 = (-r4cos + r3cos)i + (r4sin + r3sin)j (position of point-P1 w.r.t point-P7)

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 Velocity Analysis

With point 0 as a fixed origin and point 1 as moving

slider. With height elevation from center. Bold
characters are representing the vectors.

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 Velocity of point 1
Point 1 velocity will be found out with the difference in their positions.
x = [ r3-half (cos) - r3-half(cos) ] + [ r2-half (cos) – r2-half(cos)]

Thus, position equation can be written as

x = [ l/2 (cos) - l/2 (cos) ] + [ l/2 (cos) – l/2 (cos) ]
x = 2 [ l/2 (cos) – l/2 (cos)]
x = l [ (cos) – (cos)] (l=length of link 1)

Taking derivative
= l [ (-sin)()min – (-sin)()max ]
= l [ (-sin)(ω) min – (-sin)(ω) max]
= l [ sinωmax - sinωmin]
v1 = (lωmax) (-k) – (lωmin)(-k) (i)

In vector form
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= l x ωmax – l x ωmin
 Velocity of link 2
Link 2 is fixed to point O in a position at at extended heights. And from position analysis we have . Therefore,
from vector
r2 = (-r2cos)i + (r2sin)j

v2 = r2 x ω2

v2 = [ (-r2cos)i + (r2sin)j ] x [ ω2] k

v2 = [ (r2cos)-j + (r2sin)i ]

v2 = [ (r2sin)i - (r2cos)j ] (ii)

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 Velocity of link 3
Link 3 is attached to the link 1. Whereas link 1 is moving with fixed frame of reference. Due to symmetry = ,
Similarly ωmax = ω3. Therefore for link 3.
r3 = r1 + r31

r31 = [ (r3cos)i + (r3sin)j ]

Taking derivative:
= +
v3 = v1 + v31

v31 = r31 x ω3

v31 = [ (r3cos)i + (r3sin)j ] x [-ω3]k

v31 = - (r3sin)i + (r3cos)j

Using v1 from (i)

v3 = [(lωmax)(-k) – (lωmin)(-k)] + [- (r3sin)i + (r3cos)j] (iii)
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 Velocity of link 4
From similar approach of link 3, we find out the velocity of link 4. With angle and vector r4 from position analysis. Due to
symmetry ω4 = ω2.

r4 = r3 + r43

r43 = [ (-r4cos)i + (r4sin)j ]

Taking derivative:
= +

v4 = v3 + v43

v43 = r43 x ω4

v43 = [ (-r4cos)i + (r4sin)j ] x [ω4]k

v43 = [ (r4sin)i + (r4cos)j]

using (iii) from v3

v4 =[(lωmax)(-k) – (lωmin)(-k)] + [- (r3sin)i + (r3cos)j ] + [(r4sin)i + (r4cos)j] (iv)

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 Velocity of link 5
Velocity of link 5 is simply find out by the summation of vector r2 and r52. With from position analysis and angular velocity ω max
= ω3 = ω5 due to symmetry.
r5 = r2 + r52

r52 = [ (r5cos)i + (r5sin)j]

Taking derivative:
= +
v5 = v2 + v52

v52 = r52 x ω5

v52 = [ (r5cos)i + (r5sin)j ] x (ω5)k

v52 = [ (r5sin)i - (r5cos)j]

Using v2 from (ii)

v5 = [ (r2cos)-j + (r2sin)i ] + [ (r5sin)i - (r5cos)j ] (v)
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 Acceleration Analysis

Again considering the kinematic figure for acceleration

analysis of the links.

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 Acceleration of point 1
Considering equation: = l [ sinωmax - sinωmin ] and take derivative for acceleration.

= l [ ( cos. ωmax2 + . sin ) – (cos. ωmin2 + . sin)]

= αmax, = αmin

a1 = l [ (cos. ωmax2 + αmax.sin ) – (cos. ωmin2 + αmin.sin)]

a1 = [ (lxωmax)xωmax + (lxαmax) ] – [ (lxωmin)xωmin + (lxαmin) ] (a)

αmax = αmax(-k)

αmin = αmin(-k)

From maximum angle and minimum angle, we have:

ωmax =

ωmin =

Taking derivative of both we get:

αmax = 21

αmin =
 Acceleration of link 2
Link 2 is fixed with the origin O frame of reference hence from basic equation of acceleration we get.
a2 = α2.r2 + ω22r2

At maximum extended height

αmax = α3 .

Due to symmetry of both the links 2 and 3 we get

α2 = α3.

In vector form
a2 = α2 x r2 + ω2 x (ω2 x r2) (b)

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 Acceleration of link 3
Link 3 is moving relative to the link 1 which is in slider motion acceleration a1.

Writing the general equation for link 3.

a3 = a1 + a31

a31 = α3.r3 + ω32r3

In vector form
a31 = α3 x r3 + ω3 x (ω3 x r3)

α3 is basically the extended height angular acceleration which is already determined. Also using (a)

a3 = [ (lxωmax)xωmax + (lxαmax) ] – [ (lxωmin)xωmin + (lxαmin) ] + [α3 x r3 + ω3 x ( ω3 x r3 )] (c)

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 Acceleration of link 4
The link 4 is attached to the link 3 which is not stationary and moving due to the slider action of the first point. Therefore,
relative effects will also consider in this formulation. From generalize form. Consider ω 4 = ω2 due to symmetry.

a4 = a3 + a43

a43 = [ v4 x r43] + [ω4 x (r43 x ω4 )] + [ + 2 ω4 x v4 ]

[ v4 x r43] + [ω4 x (r43 x ω4)] = acceleration of point 4 with respect to point 3.

[ + 2 ω4 x v4] represent the motion of point 4 with respect to another point that coincident with 4 but having no motion
relative to point 3 coordinates. This another point is considered as another slider moving part on the main upper base
plate.
Combining all the values along with (c) we get:
a4 = [ (lxωmax)xωmax + (lxαmax) ] – [ (lxωmin)xωmin + (lxαmin) ] + [α3 x r3 + ω3 x ( ω3 x r3 )] + [v4xr43] + [ω4 x ( r43 x
ω4 )] + [ + 2 ω4 x v4 ] (d)

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 Acceleration of link 5
For the acceleration at point 5 we go with the typical approach of measuring acceleration from fixed frame od
reference.
a5 = a2 + a52­

a52­ = α5 x r5 + ω5 x ( ω5 x r5 )

The parameter α5 comes out from the fact that αmax at extended height is same for link 3 (α3) from horizontal
axis and due to symmetry with link 3 we will use the same angular acceleration for this link as well. The final
equation using (b) will be:
a5 = α2 x r2 + ω2 x (ω2 x r2) + α5 x r5 + ω5 x ( ω5 x r5 ) (e)

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 Conclusion
 Starting from the angles, it is obvious that link components length is different at complete extended
position and at lowered position. Which is cleared from maximum/minimum angle values. And by
taking the derivatives of angles at that extreme positions. We get the values of angular velocities and
accelerations as well.
 Coming to the results of velocity analysis, only the different approach was used for first link because of
its configuration. While all other links are calculated with typical method and relative effects were used
where required. The velocity analysis mainly depends upon the angles and the lengths of links (either
half or full) for their vector formation.
 Moreover, most of the angular velocity values were correctly determined while some of them are
idealized or assumed. The reason behind this is the symmetry of the linkages at certain extreme
positions e.g. ωmax = ω3 = ω5. In a similar manner calculation can be performed by considering different
heights, r, m, q, values from with fixed lengths (l) as well.

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 Conclusion
 From the results of acceleration, we can see that for link one double derivation was used for the initial
displacement of r1. It was a complex portion that involves limiting values of the mechanisms.
Acceleration of link 2 was a typical result about origin. Similarly results of links 3 yields that, the total
acceleration at point 3 will also involved the complete motion effects of point 1 (slider).
 The main part of acceleration was of 4th link that is linked to the upper plate of base from one end and
to the point 3 from other end. Hence because of the relative motion at point 3 and presence of some
other point at 4 generates the Coriolis effects. This another point is considered as another slider
moving part on the main upper base plate.

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 References
1) Dengiz, C. G., Şenel, M. C., Yıldızlı, K., & Koç, E. (2018). Design and Analysis of Scissor
Lifting System by Using Finite Elements Method. Universal Journal of Materials Science,
6(2), 58-63.
2) Babu, A. R. J., & Balasubramani, V. DESIGN AND KINEMATIC ANALYSIS OF GEAR
POWERED SCISSOR LIFT
3) Bhatt, J. M., & Pandya, M. J. (2013). Design And analysis of an aerial scissor lift. Journal of
information knowledge and research in Mechanical Engineering, 2(02), 452-455.
4) Kinematics and Dynamics of Machinery: Pearson New International Edition

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ANY QUESTIONS?

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