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How to measure lifting/dragging capasity in crane mechanism

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Newbie

How to measure lifting/dragging capasity in crane mechanism

Hi!

Does anyone know how to define motors and measure Lifting and "draging" force?

I know how to add servo and external load to tip of the telescope and measure required cylinder forces but how to do it vice versa. I can do it in stationary state when I fix the tip of telescope and add cylinder forces. Worst thing doing it this way is that I have to create multiple analysis. Cylinders must act in certain order and velocity is constant → velocity and trajectory of the tip is known. Static results are enough in this case.

Attached picture is a simplyfied case of my mechanism. Actual mechanism contains parallel mechanism (4bar link) but the procedure is the same.

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