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Scissor Lift Model in SimMechanics

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07 May 2012 (Updated )

Scissor lift built from a library of parameterized, reusable components, with a hydraulic actuator.

Scissor_Lift_Model_PARAM.m
% SCISSOR LIFT PARAMETERS
% Copyright 2012 The MathWorks, Inc.

Scissor_Lift_Param.Colors.Yellow = [0.6 0.6 0.0];
Scissor_Lift_Param.Colors.Red = [0.8 0.2 0.0];
Scissor_Lift_Param.Colors.Blue = [0.0 0.6 0.8];
Scissor_Lift_Param.Colors.Dark_Gray = [0.5 0.5 0.5];

Scissor_Lift_Param.Link.Length = 240; % cm
Scissor_Lift_Param.Link.Width = 15; % cm
Scissor_Lift_Param.Link.Thickness = 4; % cm
Scissor_Lift_Param.Link.Hole_Radius = 5; % cm
Scissor_Lift_Param.Link.Density = 10; 
Scissor_Lift_Param.Link.Color = [0.6 0.6 0.0];
Scissor_Lift_Param.Link.Opacity = 1;

Scissor_Lift_Param.Roller.Init_Pos_Target = Scissor_Lift_Param.Link.Length-2; % cm 
Scissor_Lift_Param.Crossbar.Init_Angle_Target = asin(Scissor_Lift_Param.Roller.Init_Pos_Target/Scissor_Lift_Param.Link.Length)*180/pi-90;

Scissor_Lift_Param.Link_Separation.Outer_Outer = 120; %cm
Scissor_Lift_Param.Link_Separation.Outer_Inner = 10; %cm

Scissor_Lift_Param.Trans_Shaft.Radius = 5; % cm
Scissor_Lift_Param.Trans_Shaft.Density = 1000;
Scissor_Lift_Param.Trans_Shaft.Color = [0.0 0.6 0.8];
Scissor_Lift_Param.Trans_Shaft.Opacity = 1;

Scissor_Lift_Param.Link_Pin.Radius = 5; % cm
Scissor_Lift_Param.Link_Pin.Density = 1000;
Scissor_Lift_Param.Link_Pin.Color = [0.0 0.6 0.8];
Scissor_Lift_Param.Link_Pin.Opacity = 1;

Scissor_Lift_Param.Roller.Roller_Radius = 8;
Scissor_Lift_Param.Roller.Roller_Length = 6;
Scissor_Lift_Param.Roller.Shaft_Radius = 5;
Scissor_Lift_Param.Roller.Shaft_Length = Scissor_Lift_Param.Link.Thickness*1.1;
Scissor_Lift_Param.Roller.Density = 1000;
Scissor_Lift_Param.Roller.Color = [0.0 0.6 0.8];
Scissor_Lift_Param.Roller.Opacity = 1;

Scissor_Lift_Param.Base_Block.Height = Scissor_Lift_Param.Roller.Roller_Radius*2;
Scissor_Lift_Param.Base_Block.Width = Scissor_Lift_Param.Base_Block.Height;
Scissor_Lift_Param.Base_Block.Length = Scissor_Lift_Param.Roller.Roller_Length;
Scissor_Lift_Param.Base_Block.Shaft_Radius = Scissor_Lift_Param.Roller.Shaft_Radius;
Scissor_Lift_Param.Base_Block.Shaft_Length = Scissor_Lift_Param.Link.Thickness*1.1;
Scissor_Lift_Param.Base_Block.Density = 1000;
Scissor_Lift_Param.Base_Block.Color = [0.0 0.6 0.8];
Scissor_Lift_Param.Base_Block.Opacity = 1;


Scissor_Lift_Param.Actuator.Bracket.Flange.Width = 70; %cm
Scissor_Lift_Param.Actuator.Bracket.Flange.Height = 20; %cm
Scissor_Lift_Param.Actuator.Bracket.Flange.Thickness = Scissor_Lift_Param.Link.Thickness; %cm
Scissor_Lift_Param.Actuator.Bracket.Flange.Offset = Scissor_Lift_Param.Link.Width/2; %cm
Scissor_Lift_Param.Actuator.Bracket.Flange.Density = 1000; %cm
Scissor_Lift_Param.Actuator.Bracket.Flange.Color = Scissor_Lift_Param.Colors.Red;
Scissor_Lift_Param.Actuator.Bracket.Flange.Opacity = 1;
Scissor_Lift_Param.Actuator.Bracket.Shaft.Radius = Scissor_Lift_Param.Trans_Shaft.Radius;
Scissor_Lift_Param.Actuator.Bracket.Shaft.Density = 1000;
Scissor_Lift_Param.Actuator.Bracket.Shaft.Color = [0.0 0.6 0.8];
Scissor_Lift_Param.Actuator.Bracket.Shaft.Opacity = 1;

Scissor_Lift_Param.Actuator.Collar.Radius = Scissor_Lift_Param.Trans_Shaft.Radius*1.3; %cm
Scissor_Lift_Param.Actuator.Collar.Length = 30; %cm
Scissor_Lift_Param.Actuator.Collar.Density = 1000; %cm
Scissor_Lift_Param.Actuator.Collar.Color = [0.5 0.5 0.5]; %cm
Scissor_Lift_Param.Actuator.Collar.Opacity = 1; %cm

Scissor_Lift_Param.Actuator.Cylinder.Radius = Scissor_Lift_Param.Trans_Shaft.Radius*1.3; %cm
Scissor_Lift_Param.Actuator.Cylinder.Length = Scissor_Lift_Param.Link.Length*0.675; %cm

Scissor_Lift_Param.Actuator.Piston_Seat.Radius = Scissor_Lift_Param.Trans_Shaft.Radius*1.3; %cm
Scissor_Lift_Param.Actuator.Piston_Seat.Length = 20; %cm
Scissor_Lift_Param.Actuator.Piston_Length = Scissor_Lift_Param.Link.Length*0.675; %cm
Scissor_Lift_Param.Actuator.Piston_Radius = Scissor_Lift_Param.Actuator.Cylinder.Radius*0.9; %cm

Scissor_Lift_Param.Actuator.Spring.Stiffness = 5e4; %cm
Scissor_Lift_Param.Actuator.Spring.Damping = 9e3; %cm
Scissor_Lift_Param.Actuator.Spring.Equilibrium_Position = Scissor_Lift_Param.Link.Length; %cm

Scissor_Lift_Param.Cart.Platform.Height = 10;
Scissor_Lift_Param.Cart.Platform.Width = Scissor_Lift_Param.Link_Separation.Outer_Outer+20;
Scissor_Lift_Param.Cart.Platform.Length = Scissor_Lift_Param.Link.Length+40;

Scissor_Lift_Param.Cart.Axle.Radius = 4;
Scissor_Lift_Param.Cart.Axle.Wheel_Distance = 90;
Scissor_Lift_Param.Cart.Axle.Rim.Radius = 20;
Scissor_Lift_Param.Cart.Axle.Rim.Thickness = 15;
Scissor_Lift_Param.Cart.Axle.Rim.Density = 1000;
Scissor_Lift_Param.Cart.Axle.Rim.Color = [0.5 0.5 0.5];
Scissor_Lift_Param.Cart.Axle.Tire.Radius = 30;
Scissor_Lift_Param.Cart.Axle.Tire.Thickness = 25;
Scissor_Lift_Param.Cart.Axle.Tire.Density = 100;
Scissor_Lift_Param.Cart.Axle.Tire.Color = [0 0 0];
Scissor_Lift_Param.Cart.Axle.Wheelbase = Scissor_Lift_Param.Cart.Platform.Length-2*Scissor_Lift_Param.Cart.Axle.Tire.Radius;




    


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