DE102012211190B4 - motion simulator - Google Patents
motion simulator Download PDFInfo
- Publication number
- DE102012211190B4 DE102012211190B4 DE102012211190.5A DE102012211190A DE102012211190B4 DE 102012211190 B4 DE102012211190 B4 DE 102012211190B4 DE 102012211190 A DE102012211190 A DE 102012211190A DE 102012211190 B4 DE102012211190 B4 DE 102012211190B4
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- DE
- Germany
- Prior art keywords
- simulator
- robot arms
- gondola
- motion
- bases
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000033001 locomotion Effects 0.000 title claims abstract description 18
- 239000000725 suspension Substances 0.000 claims 1
- 230000002452 interceptive effect Effects 0.000 description 2
- 238000012800 visualization Methods 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 239000002775 capsule Substances 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/009—Programme-controlled manipulators comprising a plurality of manipulators being mechanically linked with one another at their distal ends
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/003—Manipulators for entertainment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
- G09B9/12—Motion systems for aircraft simulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Theoretical Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
Bewegungssimulator, miteiner Simulatorgondel (12) zum Aufnehmen mindestens eines Passagiers (14a, 14b)wobei die Simulatorgondel (12) mit mindestens zwei Roboterarmen (16a, 16b, 16c) zum Bewegen der Simulatorgondel (12) verbunden ist,dadurch gekennzeichnet,dass die Basen (22a, 22b, 22c) der Roboterarme (16a, 16b, 16c) entlang einer gemeinsamen geschlossenen, insbesondere kreisförmigen, Linearachse (28) verschiebbar sind.A motion simulator comprising: a simulator gondola (12) for receiving at least one passenger (14a, 14b), the simulator gondola (12) being connected to at least two robot arms (16a, 16b, 16c) for moving the simulator gondola (12), characterized in that the bases (22a, 22b, 22c) of the robot arms (16a, 16b, 16c) along a common closed, in particular circular, linear axis (28) are displaceable.
Description
Die Erfindung betrifft einen Bewegungssimulator.The invention relates to a motion simulator.
Hierbei kann es sich beispielsweise um einen Flug- oder Fahrsimulator handeln. Weiterhin kann ein Bewegungssimulator als Entwurfswerkzeug für die Entwicklung von Flug- oder Fahrzeugen verwendet werden. Weiterhin kann ein Bewegungssimulator als Fahrgeschäft auf Jahrmärkten verwendet werden.This may be, for example, a flight or driving simulator. Furthermore, a motion simulator can be used as a design tool for the development of aircraft or vehicles. Furthermore, a motion simulator can be used as a ride on fairs.
Es ist bekannt, Bewegungssimulatoren durch einen Roboter anzutreiben. Hierbei hält ein Roboterarm eine Simulatorgondel. Der Roboterarm kann beispielsweise auf einer Linearachse montiert sein. Die Simulatorgondel ist eine Kapsel, in der eine oder mehrere Personen angeschnallt sitzen und über eine intern oder extern montierte Visualisierung eine simulierte Umgebung wahrnehmen. Über Steuerinstrumente in der Simulatorgondel können die Insassen mit der simulierten Umgebung interagieren.It is known to drive motion simulators by a robot. Here a robot arm holds a simulator gondola. The robot arm can be mounted, for example, on a linear axis. The simulator nacelle is a capsule in which one or more people sit belted and perceive a simulated environment via an internally or externally mounted visualization. Via control instruments in the simulator gondola, the occupants can interact with the simulated environment.
Nachteilig an derartigen Vorrichtungen ist, dass ein Roboterarm eine beschränkte Nutzlast aufweist, so dass nur eine begrenzte Anzahl von Passagieren die Simulatorgondel gleichzeitig nutzen kann. Werden Hexapodenplattformen verwendet, so sind die hiermit verbundenen hohen Kosten nachteilig.A disadvantage of such devices is that a robot arm has a limited payload, so that only a limited number of passengers can use the simulator gondola at the same time. Hexapod platforms are used, so the associated high costs are disadvantageous.
Aufgabe der Erfindung ist es, einen Bewegungssimulator mit einer größeren Nutzlast bereitzustellen.The object of the invention is to provide a motion simulator with a larger payload.
Die Lösung der Aufgabe erfolgt erfindungsgemäß durch die Merkmale des Anspruchs 1.The object is achieved according to the invention by the features of claim 1.
Der erfindungsgemäße Bewegungssimulator weist eine Simulatorgondel zum Aufnehmen mindestens eines Passagiers auf. Erfindungsgemäß ist die Simulatorgondel mit mindestens zwei Roboterarmen zum Bewegen der Simulatorgondel verbunden.The motion simulator according to the invention has a simulator gondola for receiving at least one passenger. According to the invention, the simulator gondola is connected to at least two robot arms for moving the simulator gondola.
Diese zwei Roboterarme können beispielsweise eine untereinander koordinierte Steuerung und/ oder Regelung aufweisen.These two robot arms may, for example, have an inter-coordinated control and / or regulation.
Erfindungsgemäß kann somit die maximal zulässige Last der Simulatorgondel erhöht werden. Diese ist erfindungsgemäß bevorzugt schwerer als die Nutzlast eines Roboterarms allein. Sie kann beispielsweise so groß wie die Nutzlasten der verwendeten zwei oder drei Roboterarme zusammen sein. Alternativ können auch mehr Roboterarme zum gemeinsamen Halten der Simulatorgondel miteinander verbunden werden.Thus, according to the invention, the maximum allowable load of the simulator nacelle can be increased. This invention is preferably heavier than the payload of a robot arm alone. For example, it may be as large as the payloads of the two or three robotic arms used. Alternatively, more robot arms can be connected to hold the simulator nacelle together.
Die Simulatorgondel kann Teil eines interaktiven oder nicht interaktiven Bewegungssimulationssystems sein. Weiterhin kann in der Simulatorgondel eine Vorrichtung zum Visualisieren des simulierten Szenarios vorhanden sein. Alternativ kann mit einer externen Visualisierungsvorrichtung gearbeitet werden.The simulator gondola may be part of an interactive or non-interactive motion simulation system. Furthermore, a device for visualizing the simulated scenario may be present in the simulator gondola. Alternatively, you can work with an external visualization device.
In einer bevorzugten Ausführungsform ist zwischen den Roboterarmen eine von ihnen gemeinsam gehaltene Achse angeordnet, an der die Simulatorgondel gehalten wird.In a preferred embodiment, an axis, held together by them, is arranged between the robot arms, on which the simulator nacelle is held.
Weiterhin kann die Simulatorgondel über eine Kardanaufhängung mit den Roboterarmen verbunden sein. Hierdurch ergeben sich zusätzliche Freiheitsgrade für die Bewegung der Simulatorgondel.Furthermore, the simulator gondola can be connected via a gimbal to the robot arms. This results in additional degrees of freedom for the movement of the simulator gondola.
Es ist erfindungsgemäß vorgesehen, dass die Basen der Roboterarme beweglich sind. Dies kann beispielsweise durch eine Verschiebung entlang einer gemeinsamen Linearachse erfolgen.It is inventively provided that the bases of the robot arms are movable. This can be done for example by a displacement along a common linear axis.
Alternativ können die Basen der Roboterarme entlang mehrerer separater Linearachsen verschiebbar sein.Alternatively, the bases of the robot arms can be displaceable along several separate linear axes.
Es ist erfindungsgemäß vorgesehen, dass die Basen der Roboterarme entlang einer gemeinsamen geschlossenen, insbesondere kreisförmigen Linearachse verschiebbar sind.It is inventively provided that the bases of the robot arms are displaceable along a common closed, in particular circular linear axis.
Im Folgenden werden bevorzugte Ausführungsformen der Erfindung anhand von Figuren erläutert.
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1 bis5 zeigen verschiedene Ausführungsformen der erfindungsgemäßen Vorrichtung.
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1 to5 show various embodiments of the device according to the invention.
In
In
In
Gemäß
Gemäß
In der Ausführungsform gemäß
Claims (7)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102012211190.5A DE102012211190B4 (en) | 2012-06-28 | 2012-06-28 | motion simulator |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102012211190.5A DE102012211190B4 (en) | 2012-06-28 | 2012-06-28 | motion simulator |
Publications (2)
Publication Number | Publication Date |
---|---|
DE102012211190A1 DE102012211190A1 (en) | 2014-01-02 |
DE102012211190B4 true DE102012211190B4 (en) | 2019-07-18 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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DE102012211190.5A Expired - Fee Related DE102012211190B4 (en) | 2012-06-28 | 2012-06-28 | motion simulator |
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Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
BR112012022919A2 (en) * | 2010-03-11 | 2018-05-22 | Sumitomo Metal Ind | positioning apparatus, work system, and hot work apparatus |
DE102022112465A1 (en) | 2022-05-18 | 2023-06-07 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Robot with attached gondola |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3436841A (en) * | 1966-01-25 | 1969-04-08 | Us Air Force | Spatial disorientation device |
AT509399A1 (en) * | 2010-01-22 | 2011-08-15 | Wunderwerk Digitale Medien Produktion Gmbh | TRAINING ARRANGEMENT FOR TRAINING FLIGHT STATES OF A VERTICAL TRIP AND / OR PASSENGER AIRCRAFT |
DE102010023914A1 (en) * | 2010-03-02 | 2011-09-08 | Marcel Reese | Method and device for controlling a governor |
DE102010053686B3 (en) | 2010-12-08 | 2012-01-26 | Grenzebach Maschinenbau Gmbh | Autonomous safety system for the users of vehicle simulators or flight simulators, methods for the safe use of such simulators, a computer program for carrying out the method and a machine-readable carrier with the program code. |
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2012
- 2012-06-28 DE DE102012211190.5A patent/DE102012211190B4/en not_active Expired - Fee Related
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3436841A (en) * | 1966-01-25 | 1969-04-08 | Us Air Force | Spatial disorientation device |
AT509399A1 (en) * | 2010-01-22 | 2011-08-15 | Wunderwerk Digitale Medien Produktion Gmbh | TRAINING ARRANGEMENT FOR TRAINING FLIGHT STATES OF A VERTICAL TRIP AND / OR PASSENGER AIRCRAFT |
DE102010023914A1 (en) * | 2010-03-02 | 2011-09-08 | Marcel Reese | Method and device for controlling a governor |
DE102010053686B3 (en) | 2010-12-08 | 2012-01-26 | Grenzebach Maschinenbau Gmbh | Autonomous safety system for the users of vehicle simulators or flight simulators, methods for the safe use of such simulators, a computer program for carrying out the method and a machine-readable carrier with the program code. |
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DE102012211190A1 (en) | 2014-01-02 |
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R119 | Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal fee |