The following actuation force
F
T
as a function of the lever arm
l
xy
is required to produce torque
M
z
:
40
60
80
100
120
140
160
180
200
0
20
40
60
80
100
120
Distance
l
xy
[
mm
]
Actuation
for
ce
F
T
[
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. 5.10: Actuation force
F
T
required as a function of the horizontal distance
l
xy
.
40
60
80
100
120
140
160
180
200
0
20
40
60
80
100
120
Distance
l
xy
[
mm
]
Actuation
for
ce
F
T
[
N
]
Spring 2 with
5 kg
payload
Spring 2 with
2
.
5 kg
payload
Fig. 5.11: Change to the characteristic curve with a lower payload.
