Using a Rotary and a Linear Actuator to Lift a Nine Foot Concert Grand Piano

The problem here is that we have too many unique actuator designs and even if we take advantage of the symmetry, still there are too many. In order to make something much manufacturable, we need to be able to reduce the amount of unique actuator design. Therefore, we run a commonality study which we parse our cloud again looking this time for actuators that simultaneously meet the joint performance requirements for more than one joint at the same time. So the resulting portfolio is six actuators and they show in a colour map in the middle figure and the actuators can be also viewed in this slide. We have three rotary and three linear actuators, all of which have a great output