CN106902514B - Dynamic simulation device and control method and control device thereof - Google Patents
Dynamic simulation device and control method and control device thereof Download PDFInfo
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- CN106902514B CN106902514B CN201710166112.8A CN201710166112A CN106902514B CN 106902514 B CN106902514 B CN 106902514B CN 201710166112 A CN201710166112 A CN 201710166112A CN 106902514 B CN106902514 B CN 106902514B
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63G—MERRY-GO-ROUNDS; SWINGS; ROCKING-HORSES; CHUTES; SWITCHBACKS; SIMILAR DEVICES FOR PUBLIC AMUSEMENT
- A63G31/00—Amusement arrangements
- A63G31/02—Amusement arrangements with moving substructures
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/25—Output arrangements for video game devices
- A63F13/28—Output arrangements for video game devices responding to control signals received from the game device for affecting ambient conditions, e.g. for vibrating players' seats, activating scent dispensers or affecting temperature or light
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
- Chairs For Special Purposes, Such As Reclining Chairs (AREA)
Abstract
The invention discloses a dynamic simulation device and a control method and a control device thereof, wherein the dynamic simulation device comprises: an upper platform support; the seat is rotationally connected with the upper platform bracket through a rotating mechanism, and the rotating shaft direction of the rotating mechanism is vertical to the seat surface of the seat; the guide piece is fixed relative to the seat and is provided with a linear sliding chute arranged parallel to the seat surface; the yawing driving piece is mounted on the upper platform support, a rotor of the yawing driving piece is set to output linear motion parallel to the seat surface, the rotor is connected with the linear sliding groove in a sliding fit manner, and the direction of the linear sliding groove is different from the motion direction of the rotor; and at least three driving shafts for outputting linear motion, wherein each driving shaft is fixedly supported on the lower platform along the vertical direction, and the linear motion output part of each driving shaft is connected with the upper platform bracket through a hinge part.
Description
Technical Field
The invention relates to the technical field of dynamic simulation, in particular to a dynamic simulation device, a control method of the dynamic simulation device and a control device of the dynamic simulation device.
Background
The dynamic simulation device is a high-tech product integrating mechanical, electrical, computer and automatic control technologies, can be used as a dynamic motion platform matched with games or display contents, can also be used as an aviation simulator and the like, is matched with a virtual reality display device on the basis of the dynamic simulation device, and can also provide better and vivid experience for users.
The existing dynamic simulation device usually has a plurality of driving shafts, each driving shaft adopts a lead screw nut pair to convert rotational motion into linear motion, each driving shaft forms a certain angle (for example, 10 degrees) with the vertical direction, and each driving shaft is connected with a base and a seat through at least two hinge mechanisms, so that in order to meet the motion stroke requirement, the whole device needs to have a larger size specification and cannot realize miniaturization, therefore, the use place of the dynamic simulation device is usually limited in a special experience store and cannot enter a family, and further the development of the dynamic simulation device is limited.
Disclosure of Invention
An object of the embodiments of the present invention is to provide a new technical solution for a dynamic simulation apparatus, so as to facilitate the miniaturization design of the dynamic simulation apparatus.
According to a first aspect of the present invention, there is provided a dynamic simulation apparatus comprising:
an upper platform support;
the seat is rotationally connected with the upper platform support through a rotating mechanism, and the rotating shaft direction of the rotating mechanism is perpendicular to the seat surface of the seat;
the guide piece is fixed relative to the seat and is provided with a linear sliding groove arranged parallel to the seat surface;
the yaw driving piece is installed on the upper platform support, a rotor of the yaw driving piece is set to output linear motion parallel to the seat surface, the rotor is connected with the linear sliding groove in a sliding fit mode, and the direction of the linear sliding groove is different from the motion direction of the rotor; and (c) a second step of,
the linear motion output part of each driving shaft is connected with the upper platform bracket through a hinge part.
Optionally, the at least three drive shafts outputting linear motion are evenly arranged around the rotating mechanism.
Alternatively, each of the driving shafts is configured to output a linear motion by a linear motor, an electric cylinder, or an air cylinder.
Optionally, each of the driving shafts is fixedly supported on the lower platform through a buffer column.
Optionally, the seat is connected to the rotating mechanism through a seat support, and the guide is fixedly connected to the seat support.
Optionally, the rotating mechanism includes a bearing seat, a bearing installed in the bearing seat, and a flange shaft fixed relative to an inner ring of the bearing, the bearing seat is fixedly installed on the upper platform support, and the seat is fixed relative to the flange shaft.
Optionally, the hinge member is a hooke hinge.
Optionally, the dynamic simulation apparatus further includes at least one operation input mechanism, and a sensor device for collecting operation data of each operation input mechanism.
According to a second aspect of the present invention, there is also provided a method for controlling a dynamic simulation apparatus according to the first aspect of the present invention, including:
receiving operation data for controlling the movement posture of the seat;
determining motion data according to the operation data, wherein the motion data comprises the displacement of the seat in the vertical direction, the rolling angle of the seat, the pitching angle of the seat and the yawing angle of the seat;
determining respective stroke amounts of at least three drive shafts and a stroke amount of the yaw drive according to the motion data;
and controlling the at least three driving shafts to output respective stroke amounts, and controlling the yaw driving piece to output corresponding stroke amounts.
According to a third aspect of the present invention, there is also provided a control device for a dynamic simulation apparatus according to the first aspect of the present invention, comprising:
the receiving module is used for receiving operation data for controlling the movement posture of the seat;
the motion data calculation module is used for determining motion data according to the operation data, wherein the motion data comprises the displacement of the seat in the vertical direction, the rolling angle of the seat, the pitching angle of the seat and the yawing angle of the seat;
the stroke quantity calculating module is used for determining the respective stroke quantity of at least three driving shafts and the stroke quantity of the yaw driving piece according to the motion data; and (c) a second step of,
and the control module is used for controlling the at least three driving shafts to output respective stroke amounts and controlling the yaw driving piece to output corresponding stroke amounts.
The dynamic simulation device has the advantages that the three-freedom-degree design of the seat is realized by the at least three driving shafts which are parallelly arranged in parallel along the vertical direction, the three-freedom-degree design is respectively the lifting action, the pitching action and the rolling action in the vertical direction, and the other-freedom-degree design of the seat, namely the yawing action, is realized by the yawing driving piece.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments of the invention, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
Fig. 1 is a schematic structural diagram of an embodiment of a dynamic simulation apparatus according to the present invention;
fig. 2 is an exploded view of the motion simulator shown in fig. 1;
fig. 3 is a schematic view of an absolute coordinate system of the motion simulator shown in fig. 1;
FIG. 4 is a schematic flow chart diagram of one embodiment of a control method according to the present disclosure;
FIG. 5 is a block schematic diagram of one embodiment of a control device according to the present invention;
FIG. 6 is a block schematic diagram of a hardware configuration of a control device according to the present invention;
fig. 7 is a block schematic diagram of a motion simulation system based on the motion simulation apparatus of the present invention.
Description of reference numerals:
1-a seat; 2-upper platform support;
3-a lower platform; 4-a yaw drive;
401-a mover; 5-a drive shaft;
6-a buffer column; 7-a seat support;
8-a rotating mechanism; 9-a guide;
901-linear chute; 10-operating an input mechanism;
201-hanging a bracket;
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
Fig. 1 is a schematic structural view of an embodiment of a dynamic simulation apparatus according to the present invention, and fig. 2 is an exploded structural view of the dynamic simulation apparatus in fig. 1.
Referring to fig. 1 and 2, the dynamic simulation apparatus of the present invention comprises a seat 1, an upper platform support 2, a guide 9, a yaw driving member 4 outputting a linear motion, a rotating mechanism 8, and three driving shafts 5 arranged in parallel, each driving shaft 5 being configured to output a linear motion.
The seat 1 is rotatably connected with the upper platform support 2 through a rotating mechanism 8, and the rotating shaft direction of the rotating mechanism 8 is perpendicular to the seat surface of the seat 1, wherein the upper platform support 2 is located below the seat 1 in the vertical direction.
In the initial state of the dynamic simulation device, the seat surface of the seat 1 is arranged in the horizontal direction, and the rotating shaft of the rotating mechanism 8 is in the vertical direction.
The rotating mechanism 8 may include a bearing housing, a bearing installed in the bearing housing, and a flange shaft fixed with respect to an inner ring of the bearing, wherein the bearing housing is fixedly installed in the installation hole of the upper platform bracket 2, and the seat 1 is fixed with respect to the flange shaft. Thus, the seat 1 can be rotated relative to the upper platform support 2 by the guide 9 and the yaw drive 4 to effect yaw movement.
The guide 9 is fixed relative to the seat 1 to limit movement of the seat 1 relative to the guide 9. The guide 9 has a linear slide groove 901 arranged parallel to the seating surface of the seat 1.
The yaw drive 4 is mounted on the upper platform support 2, and the mover 401 of the yaw drive 4 is arranged to output a linear motion parallel to the seat surface of the seat 1.
The mover 401 is connected with the linear sliding chute 901 in a sliding fit manner, and the direction of the linear sliding chute 901 is different from the moving direction of the mover 401. When the mover 401 controlling the yaw driving unit 4 outputs the linear motion, the mover 401 slides in the linear sliding groove 901, and further, the guide 9 and the seat 1 fixed to the guide 9 are pushed by the linear sliding groove 901 and are deflected by the rotating mechanism 8, so that the seat 1 is yawed.
The yaw driving part 4 may be configured to output a linear motion by a linear motor, an electric cylinder, an air cylinder, and the mover 401 may be, for example, a pulley mounted on a linear motion output portion of the linear motor, the electric cylinder, the air cylinder, or the like through a connecting shaft to reduce a frictional force between the mover 401 and the linear chute 901.
With reference to the absolute coordinate system setup shown in fig. 3, the Y-axis is in the vertical direction, the X-axis is in the left-right direction, and the Z-axis is in the front-back direction, wherein the rotation around the Y-axis is called yaw movement yaw, the rotation around the X-axis is called pitch movement, and the rotation around the Z-axis is called roll movement roll.
The initial state of the motion simulator may be set such that the front-rear direction of the seat 1 coincides with the Z-axis direction of the absolute coordinate system.
In the absolute coordinate system, the yaw drive 4 may be configured to enable the mover 401 to output a linear motion along the X-axis direction in the initial state of the motion simulator, and the guide 9 may be configured to enable the linear chute 901 to extend along the Z-axis direction in the initial state of the motion simulator, that is, in the initial state, the motion direction of the mover 401 of the yaw drive 4 is perpendicular to the direction of the linear chute 901.
This upper platform support 2 can include the support body and with support body fixed connection's suspension bracket 201, this suspension bracket 201 is located the below of support body on vertical direction. In this way, it is possible to mount the swivel mechanism on the bracket body to carry the seat 1 and mount the yaw drive 4 on the suspension bracket 201 to avoid the occurrence of the interference of the movement between the seat 1 and the yaw drive 4 by the compact structure.
In order to facilitate the relative fixation between the seat 1 and the guide 9, in this embodiment, the motion simulator of the present invention further includes a seat support 7, the seat 1 is connected to the rotating mechanism 8 through the seat support 7, specifically, the seat support 7 may be fixedly connected to a flange shaft of the rotating mechanism 8, the seat 1 is fixedly connected to the seat support 7, and the guide 9 is fixedly connected to the seat support 7.
Each driving shaft 5 is fixedly supported on the lower platform 3 along the vertical direction, and a linear motion output part of each driving shaft 5 is connected with the upper platform support 2 through a hinge part, wherein the hinge part can be a hooke hinge, a universal joint, a spherical hinge and the like. In this way, by controlling the stroke amount of each drive shaft 5, the vertical lifting movement of the seat 1, the pitching movement of the seat 1, and the turning movement of the seat 1 can be achieved.
According to the dynamic simulation device, each driving shaft 5 is parallelly arranged in parallel, and the overall size of the device can be obviously reduced by the structure that the driving shafts are arranged at an angle with the vertical direction; on the other hand, each driving shaft 5 is fixedly supported on the lower platform 3 without being connected to the lower platform 3 through a hinge component, which can effectively improve the rigidity of the structure below the seat 1, and improve the impact resistance and the load bearing capacity, so as to further facilitate the miniaturization design of the dynamic simulation device, and the reduction of the use of the hinge component can also reduce the cost of the dynamic simulation device and improve the market competitiveness.
Therefore, the dynamic simulation device can realize the design of four degrees of freedom through miniaturization design, and the four degrees of freedom are respectively the lifting motion of the seat 1 along the vertical direction, the pitching motion of the seat 1, the rolling motion of the seat 1 and the deflecting motion of the seat 1, so that the control on the motion posture of the seat 1 is met to a greater extent through a simple and compact structure, the dynamic simulation device can enter private places such as families, and the user experience is improved.
Each driving shaft 5 may be configured to output a linear motion by a linear motor, an electric cylinder, or an air cylinder to reduce the number of components of each driving shaft 5, reduce mechanical friction, improve service life, and implement a silent design.
Each of the driving shafts 5 may also be configured to output linear motion by a transmission structure of a motor-driven screw nut pair, a transmission structure of a motor-driven timing belt, or the like.
The above three drive shafts 5 may be arranged evenly around the turning mechanism 8, i.e. the three drive shafts 5 are arranged 120 degrees apart from each other.
The arrangement positions of the above three driving shafts 5 may be further: in the initial state of the dynamic simulation device, the central line of the first driving shaft 5 is coplanar with the rotating shaft of the rotating mechanism 8, the plane of the first driving shaft 5 and the rotating shaft of the rotating mechanism 8 is parallel to the Y axis and the Z axis and is vertical to the X axis, and the second driving shaft 5 and the third driving shaft 5 and the first driving shaft 5 form an equilateral triangle supporting structure. The structure is not only stable and reliable, but also can simplify the control algorithm of the movement posture of the seat 1.
For example, by controlling the three driving shafts 5 to generate the same stroke amount, the seat 1 can be controlled to perform the up-and-down movement. By controlling the stroke amount of the first driving shaft 5 to generate H1 and controlling the stroke amounts of the second driving shaft 5 and the third driving shaft 5 to generate H2, wherein H1 is not equal to H2, the seat 1 can be controlled to perform the pitching motion. By controlling the stroke amount of the second driving shaft 5 to generate H3 and controlling the stroke amount of the third driving shaft 5 to generate H4, wherein H3 is not equal to H4, the rolling motion of the seat 1 can be controlled.
In order to reduce the impact force and load borne by each driving shaft 5, in this embodiment, the dynamic simulation apparatus of the present invention further includes a buffer column 6, each driving shaft 5 is fixedly supported on the lower platform 3 through the buffer column 6, for example, each driving shaft 5 is fixedly supported on the lower platform 3 through four buffer columns 6, wherein four buffer columns 6 corresponding to the same driving shaft 5 form a square arrangement structure.
In other embodiments, the inventive dynamic simulation apparatus may have more than three drive shafts 5.
The dynamic simulation device can further comprise at least one operation input mechanism 10 and a sensor device for acquiring operation data of each operation input mechanism 10, so that the control device of the dynamic simulation device can recognize operation intentions of an operator according to the operation data provided by the sensor device, and further control the three driving shafts 5 and the yawing driving piece 4 to perform corresponding actions, so that the seat 1 generates a motion gesture consistent with the operation intentions, therefore, the operator can experience the pleasure of performing actual operation control according to game contents or display contents, and the dynamic simulation device can be matched with a virtual reality display device, and has better and vivid experience.
In this embodiment, the motion simulator of the present invention has two operation input mechanisms 10, a throttle lever and a joystick, respectively.
In further embodiments, the motion simulator of the present invention may have the operation input mechanism 10 including a steering wheel, a foot pedal, and the like.
In this embodiment, the lower platform 3 of the motion simulator of the present invention is configured as a closed enclosure, and various electric control accessories such as a power module, a controller and a driver of each driving shaft and yaw driving member are enclosed in the enclosure, so as to save space and make the structure more compact.
The dynamic simulation device can also be provided with a sound system.
This sound system can set up in the inside of seat 1, and wherein, the inside of seat 1 has the wire casing to carry out the merging of various pencil and walk the line and handle, and leave control panel port and supply the user to use.
The dynamic simulation device can also comprise a vibration device so as to simulate vibration according to games or display contents and achieve a vivid experience effect.
The vibration device may be provided, for example, on the backrest of the seat 1.
Fig. 4 is a flowchart illustrating an embodiment of a method for controlling a dynamic simulation apparatus according to the present invention.
As shown in fig. 4, the control method of the present invention may include the steps of:
step S410, receiving operation data for manipulating the movement posture of the seat 1.
In the embodiment of the motion simulator having the operation input device 10, the operation data is data representing the motion of the operation input device 10, and in the case of the operation input device 10 being a joystick, the operation data may include the yaw direction and the yaw angle of the joystick.
In embodiments where the motion simulator has an operating input mechanism 10, the operating data may be provided by a sensor device for acquiring operating data of the operating input mechanism 10.
In addition, the operation data can also be obtained by directly loading a posture control script corresponding to game content or display content by the system.
In step S420, movement data including the amount of displacement of the seat in the vertical direction, the roll angle of the seat 1, the pitch angle of the seat 1, and the yaw angle of the seat 1 is determined according to the operation data.
In step S420, game position data may be determined according to the operation data, where the game position data includes a rotation angle AlfaRad around the X axis, a rotation angle BetaRad around the Y axis, a rotation angle gammarrad around the Z axis, and a Y-axis linear acceleration YAcceG; and determining the motion data according to the game attitude data.
In step S430, the stroke amounts of the three drive shafts 5 and the stroke amount of the yaw drive 4 are determined based on the motion data.
In step S440, the three drive shafts 5 are controlled to output respective stroke amounts, and the yaw drive 4 is controlled to output corresponding stroke amounts.
Fig. 5 is a schematic flowchart of an embodiment of a control device of a dynamic simulation apparatus according to the present invention.
Referring to fig. 5, the control apparatus of the present invention may include a receiving module 510, a motion data calculating module 520, a stroke amount calculating module 530, and a control module 540.
The receiving module 510 is used for receiving operation data for manipulating the motion posture of the seat.
The movement data calculation module 520 is configured to determine movement data according to the operation data, wherein the movement data includes a displacement of the seat in a vertical direction, a rolling angle of the seat, a pitching angle of the seat, and a yawing angle of the seat.
The stroke amount calculation module 530 determines respective stroke amounts of at least three drive shafts and a stroke amount of the yaw drive according to the motion data.
The control module 540 is configured to control the at least three drive shafts to output respective stroke amounts and to control the yaw drive to output corresponding stroke amounts.
Fig. 6 is an embodiment of a hardware configuration of a control device of the animation simulation device according to the present invention.
As shown in fig. 6, the control device may include at least one memory 610 and at least one processor 620, wherein the memory 610 is configured to store instructions for controlling the processor 620 to operate to perform the control method according to the present invention.
Figure 7 is a block schematic diagram of one embodiment of a motion sensation simulation system according to the present invention.
Referring to fig. 7, the motion sensation simulation system of the present invention may include a motion sensation simulation apparatus 710 according to the present invention, a control apparatus 720 according to the present invention, a display apparatus 730, a host computer 740, a communication apparatus 750, an interface apparatus 760, and the like.
The display device 730 may be a virtual reality display device, an LCD display device, or the like.
The interface device 760 may be a USB interface or the like.
The communication device 750 may be a device that performs wired or wireless communication.
The embodiments in the present disclosure are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from the other embodiments, but it should be clear to those skilled in the art that the embodiments described above can be used alone or in combination with each other as needed. In addition, for the device embodiment, since it corresponds to the method embodiment, the description is relatively simple, and for relevant points, refer to the description of the corresponding parts of the method embodiment. The above-described apparatus embodiments are merely illustrative, in that modules illustrated as separate components may or may not be physically separate.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terms used herein were chosen in order to best explain the principles of the embodiments, the practical application, or technical improvements to the techniques in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.
Claims (10)
1. A dynamic simulation apparatus, comprising:
an upper platform support;
the seat is rotationally connected with the upper platform support through a rotating mechanism, and the rotating shaft direction of the rotating mechanism is perpendicular to the seat surface of the seat;
the guide piece is fixed relative to the seat and is provided with a linear sliding groove arranged parallel to the seat surface;
the yaw driving piece is installed on the upper platform support, a rotor of the yaw driving piece is set to output linear motion parallel to the seat surface, the rotor is connected with the linear sliding groove in a sliding fit mode, and the direction of the linear sliding groove is different from the motion direction of the rotor; and the number of the first and second groups,
the linear motion output part of each driving shaft is connected with the upper platform bracket through a hinge part.
2. The motion simulator of claim 1, wherein the at least three output linear motion drive shafts are evenly disposed about the rotating mechanism.
3. The motion simulator of claim 1, wherein each of the driving shafts is configured to output a linear motion by a linear motor, an electric cylinder, or an air cylinder.
4. The motion simulator of claim 1, wherein each of the drive shafts is fixedly supported on the lower platform by a strut.
5. The motion simulator of claim 1, wherein the seat is coupled to the rotation mechanism via a seat support, and the guide is fixedly coupled to the seat support.
6. The motion simulator of claim 1, wherein the rotational mechanism comprises a bearing housing, a bearing mounted in the bearing housing, and a flange shaft fixed relative to an inner race of the bearing, the bearing housing is fixedly mounted on the upper platform support, and the seat is fixed relative to the flange shaft.
7. The animated simulator of claim 1 wherein the hinge member is a hooke hinge.
8. The animated simulation device of any one of claims 1 to 7, further comprising at least one operational input mechanism and sensor means for collecting operational data for each operational input mechanism.
9. A method for controlling the dynamic simulation apparatus of any one of claims 1 to 8, comprising:
receiving operation data for controlling the movement posture of the seat;
determining motion data according to the operation data, wherein the motion data comprises the displacement of the seat in the vertical direction, the rolling angle of the seat, the pitching angle of the seat and the yawing angle of the seat;
determining respective stroke amounts of at least three drive shafts and a stroke amount of the yaw drive according to the motion data;
and controlling the at least three driving shafts to output respective stroke amounts, and controlling the yaw driving piece to output corresponding stroke amounts.
10. A control device for a dynamic simulation apparatus according to any one of claims 1 to 8, comprising:
the receiving module is used for receiving operation data for controlling the movement posture of the seat;
the motion data calculation module is used for determining motion data according to the operation data, wherein the motion data comprises the displacement of the seat in the vertical direction, the rolling angle of the seat, the pitching angle of the seat and the yawing angle of the seat;
the stroke calculation module is used for determining the respective stroke of at least three driving shafts and the stroke of the yaw driving piece according to the motion data; and the number of the first and second groups,
and the control module is used for controlling the at least three driving shafts to output respective stroke amounts and controlling the yaw driving piece to output corresponding stroke amounts.
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| CN107344019B (en) * | 2017-07-28 | 2023-11-21 | 歌尔科技有限公司 | Virtual reality system |
| CN107293184A (en) * | 2017-08-23 | 2017-10-24 | 芜湖超源力工业设计有限公司 | A kind of special dynamic aerolog of space training |
| CN107293185A (en) * | 2017-08-23 | 2017-10-24 | 芜湖超源力工业设计有限公司 | A kind of pilot's simulated training multi-angle rotary device |
| CN111260991A (en) * | 2018-12-03 | 2020-06-09 | 技嘉科技股份有限公司 | Pneumatic multi-degree-of-freedom simulation device |
| CN109939447A (en) * | 2019-05-05 | 2019-06-28 | 江西制造职业技术学院 | A kind of aerolog and method |
| CN110193191B (en) * | 2019-05-27 | 2020-02-18 | 南京临界风行科技有限公司 | Multi-player fighting holographic game platform |
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| CN201725480U (en) * | 2010-06-09 | 2011-01-26 | 北京市星光凯明动感仿真模拟器中心 | Electromechanical moving platform with three degrees of freedom |
| CN204233785U (en) * | 2014-11-25 | 2015-04-01 | 山东金东数字科技有限公司 | A kind of innervation passes through cinema system carrying platform |
| CN105013195A (en) * | 2015-07-22 | 2015-11-04 | 宁波新文三维股份有限公司 | Multi-degree-of-freedom platform capable of rotating at angle no less than 360 degrees and simulated experience cinema with same |
| CN105180965A (en) * | 2015-08-05 | 2015-12-23 | 陕西科瑞迪机电设备有限公司 | Triaxial ship attitude angle analogue simulation test platform |
| CN105133875A (en) * | 2015-09-21 | 2015-12-09 | 万达文化旅游规划研究院有限公司 | Amusement dynamic platform device and use method thereof |
| CN105761574A (en) * | 2016-04-26 | 2016-07-13 | 深圳市泊乐康体设备有限公司 | Multi-dimensional parallel dynamic platform for flight simulator |
| CN206896806U (en) * | 2017-03-20 | 2018-01-19 | 歌尔科技有限公司 | A kind of dynamic simulating device |
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| CN106902514A (en) | 2017-06-30 |
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