Hi all, I've got this idea in my head of building a mini-loader like a http://www.multione.com/mini-articulated-loaders/ . I'm interested in replacing the hydraulics with linear actuators and wondered if anyone here could shed some thoughts/advice. Given the driveline would also be fully electric, my reasons by going electric on the actuators are: a) Efficiency - running hydraulics is inefficient as it's continually running a pump. b) Servicing - hydraulics require servicing, linear actuators do not. c) Simplicity - Electrics are far easier to design and control than hydraulics. I'm mostly concerned with the main lifting actuator, I think (although not quite sure) that I could source an actuator with enough Torque and quick enough, but am concerned with potential side loads. I've attached a quick sketch of how I think the main lifting arm could be setup, but at position 2 is there a side load on the actuator? Or because the actuator would pivot at the bottom, is there no side load? Another question is, given a load (in kg) in the bucket, and the length of the arm, and the position of the actuator connected to the arm, how do I calculate the N force required to lift the bucket?