Leveling system for lift device

A lift device comprising:

• a base having a first end and an opposing second end;
• a first arm pivotally coupled to the first end;
• a second arm pivotally coupled to the first end;
• a third arm pivotally coupled to the opposing second end;
• a fourth arm pivotally coupled to the opposing second end;
• and
• a leveling assembly including:
• a first actuator extending between the first arm and the first end;
• a second actuator extending between the second arm and the first end;
• a third actuator extending between the third arm and the opposing second end;
• a fourth actuator extending between the fourth arm and the opposing second end;
• wherein the first actuator, the second actuator, the third actuator, and the fourth actuator have a maximum length and a minimum length;
• and
• a controller configured to control the first actuator, the second actuator, the third actuator, and the fourth actuator to reconfigure the leveling assembly between (i) a shipping, transport, or storage mode where each of the first arm, the second arm, the third arm, and the fourth arm extends away from the base at upward sloping angle and (ii) an operational mode where extension and retraction of at least two of the first actuator, the second actuator, the third actuator, and the fourth actuator is independently controlled to facilitate leveling the base;
• wherein, when the leveling assembly is in the operational mode and while the lift device is moving at a speed below a threshold speed, the controller is configured to:
• determine a current length of a most extended actuator of the first actuator, the second actuator, the third actuator, and the fourth actuator;
• determine a current length of a least extended actuator of the first actuator, the second actuator, the third actuator, and the fourth actuator;
• determine an adjustment value based on the current length of the most extended actuator, the current length of the least extended actuator, the maximum length, and the minimum length;
• and
• adjust each of the first actuator, the second actuator, the third actuator, and the fourth actuator based on the adjustment value to drive the first actuator, the second actuator, the third actuator, and the fourth actuator toward to a mid-stroke position while maintaining the base level.

A lift device comprising:

• a base having a first end and a second end;
• a first arm pivotally coupled to the first end, the first arm including a first tractive element coupled thereto;
• a second arm pivotally coupled to the first end, the second arm including a second tractive element coupled thereto;
• a third arm pivotally coupled to the second end, the third arm including a third tractive element coupled thereto;
• a fourth arm pivotally coupled to the second end, the fourth arm including a fourth tractive element coupled thereto;
• a first actuator extending between the first arm and the first end;
• a second actuator extending between the second arm and the first end;
• a third actuator extending between the third arm and the second end;
• a fourth actuator extending between the fourth arm and the second end;
• and
• a controller configured to:
• control the first actuator, the second actuator, the third actuator, and the fourth actuator to pivot the first arm, the second arm, the third arm, and the fourth arm, respectively, through a range of motion where the first arm, the second arm, the third arm, and the fourth arm extend away from the base (i) at an upward sloping angle relative to a horizontal when in a first orientation and (ii) at a downward sloping angle relative to the horizontal when in a second orientation;
• and
• (i) fluidly couple two of the first actuator, the second actuator, the third actuator, and the fourth actuator together and (ii) independently control extension and retraction of the other two of the first actuator, the second actuator, the third actuator, and the fourth actuator while the lift device is stationary.

A lift device comprising:

• a base having a first end and a second end;
• a first arm pivotally coupled to the first end, the first arm including a first tractive element coupled thereto;
• a second arm pivotally coupled to the first end, the second arm including a second tractive element coupled thereto;
• a third arm pivotally coupled to the second end, the third arm including a third tractive element coupled thereto;
• a fourth arm pivotally coupled to the second end, the fourth arm including a fourth tractive element coupled thereto;
• a first brake positioned to selectively restrict movement of the first tractive element;
• a second brake positioned to selectively restrict movement of the second tractive element;
• a third brake positioned to selectively restrict movement of the third tractive element;
• and
• a fourth brake positioned to selectively restrict movement of the fourth tractive element;
• a first actuator extending between the first arm and the first end;
• a second actuator extending between the second arm and the first end;
• a third actuator extending between the third arm and the second end;
• a fourth actuator extending between the fourth arm and the second end;
• and
• a controller configured to:
• control the first actuator, the second actuator, the third actuator, and the fourth actuator to pivot the first arm, the second arm, the third arm, and the fourth arm, respectively, through a range of motion where the first arm, the second arm, the third arm, and the fourth arm extend away from the base (i) at an upward sloping angle relative to a horizontal when in a first orientation and (ii) at a downward sloping angle relative to the horizontal when in a second orientation;
• and
• (i) engage the first brake and the second brake such that the first tractive element and the second tractive element are prevented from moving and (ii) disengage the third brake and the fourth brake such that the third tractive element and the fourth tractive element freely move when transitioning between the first orientation and the second orientation.

A lift device comprising:

• a base having a first end and a second end;
• a first arm pivotally coupled to the first end, the first arm including a first tractive element coupled thereto;
• a second arm pivotally coupled to the first end, the second arm including a second tractive element coupled thereto;
• a third arm pivotally coupled to the second end, the third arm including a third tractive element coupled thereto;
• a fourth arm pivotally coupled to the second end, the fourth arm including a fourth tractive element coupled thereto;
• a first actuator extending between the first arm and the first end;
• a second actuator extending between the second arm and the first end;
• a third actuator extending between the third arm and the second end;
• a fourth actuator extending between the fourth arm and the second end, wherein the first actuator, the second actuator, the third actuator, and the fourth actuator have a maximum length and a minimum length;
• and
• a controller configured to control the first actuator, the second actuator, the third actuator, and the fourth actuator to pivot the first arm, the second arm, the third arm, and the fourth arm, respectively, through a range of motion where the first arm, the second arm, the third arm, and the fourth arm extend away from the base (i) at an upward sloping angle relative to a horizontal when in a first orientation and (ii) at a downward sloping angle relative to the horizontal when in a second orientation;
• wherein, while the lift device is moving at a speed below a threshold speed, the controller is configured to:
• determine a current length of a most extended actuator of the first actuator, the second actuator, the third actuator, and the fourth actuator;
• determine a current length of a least extended actuator of the first actuator, the second actuator, the third actuator, and the fourth actuator;
• determine an adjustment value based on the current length of the most extended actuator, the current length of the least extended actuator, the maximum length, and the minimum length;
• and
• adjust each of the first actuator, the second actuator, the third actuator, and the fourth actuator based on the adjustment value to drive the first actuator, the second actuator, the third actuator, and the fourth actuator toward to a mid-stroke position while maintaining the base level.