0
20
40
60
80
100
120
140
160
180
200
220
240
0
20
40
60
80
100
120
Distance
l
z
[
mm
]
Actuation
for
ce
F
xy
[
N
]
Spring 1 with
2
.
5 kg
payload
Spring 2 with
5 kg
payload
Spring 3 with
7
.
5 kg
payload
Without spring, with
10 kg
payload
Fig. 5.3: Required horizontal actuation force
F
xy
as a function of the vertical distance
l
z
(valid for center of gravity
l
s
up to
200 mm
).
0
20
40
60
80
100
120
140
160
180
200
220
240
0
20
40
60
80
100
120
Distance
l
z
[
mm
]
Actuation
for
ce
F
xy
[
N
]
Spring 2 with
5 kg
payload
Spring 2 with
2
.
5 kg
payload
Fig. 5.4: Change to the characteristic curve with a lower payload.