## Calculations:

A number of calculations factored into the design of our structure.
**Torque Calculations**

Range of motion: **120°**

Calculated torque: **1.6lbin** (lower than expected)

**Lifting Arm Calculations - Old Design**

Range of motion: 48°

Theoretical Lift Height: 2*3.5in*sin(24%deg) = 2.8in

Actual Lift Height (Maximum): 2.5in

Approximate Lifting Force: 1.6lbin(50/20)/(3.5in) = 1.143lb

Servo power utilized: 1lb/1.143lb = **87.5%**

**Lifting Arm Calculations - New Design**

Range of motion: 48°

Theoretical Lift Height: 2*6in*sin(24%deg) = 4.9in

Actual Lift Height (Maximum): 4.625in

Approximate Lifting Force: 1.6lbin(50/20)/(6in) + (2.8oz*1lb/16oz)*(13in)/(6in) = 1.046lb

Servo power utilized: 1lb/1.046lb = **95.6%**