0
40
80
120
160
200
240
280
320
360
400
0
10
20
30
40
50
60
70
Distance from centroid
l
s
[
mm
]
Tilt
angle
Θ
[°]
Spring 1 with
3 kg
payload
Spring 2 with
5
.
5 kg
payload
Spring 3 with
8 kg
payload
Without spring, with
10
.
8 kg
payload
Fig. 5.16: Tilt angle
Θ
required to actuate as a function of the distance from centroid
l
s
.
0
40
80
120
160
200
240
280
320
360
400
0
10
20
30
40
50
60
70
Distance from centroid
l
s
[
mm
]
Tilt
angle
Θ
[°]
Spring 2 with
5
.
5 kg
payload
Spring 2 with
3
.
5 kg
payload
Fig. 5.17: Change to the characteristic curve with a lower payload.
