EP4475971B1 - System und verfahren zur bewegungssimulation - Google Patents

System und verfahren zur bewegungssimulation

Info

Publication number
EP4475971B1
EP4475971B1 EP23719455.0A EP23719455A EP4475971B1 EP 4475971 B1 EP4475971 B1 EP 4475971B1 EP 23719455 A EP23719455 A EP 23719455A EP 4475971 B1 EP4475971 B1 EP 4475971B1
Authority
EP
European Patent Office
Prior art keywords
positioning actuator
simulation system
weight bearing
platform
motion simulation
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.)
Active
Application number
EP23719455.0A
Other languages
English (en)
French (fr)
Other versions
EP4475971A1 (de
EP4475971C0 (de
Inventor
Louis Hajichristou
Michael GREGORIADES
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Arkinematics Ltd
Original Assignee
Arkinematics Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Arkinematics Ltd filed Critical Arkinematics Ltd
Publication of EP4475971A1 publication Critical patent/EP4475971A1/de
Application granted granted Critical
Publication of EP4475971B1 publication Critical patent/EP4475971B1/de
Publication of EP4475971C0 publication Critical patent/EP4475971C0/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • 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
    • A63G31/16—Amusement arrangements creating illusions of travel

Definitions

  • the present disclosure relates generally to motion simulation systems, including, but not limited to motion simulation systems including a platform assembly and configured for movement in multiple degrees of freedom.
  • Motion simulation systems have included platforms for supporting and initiating physical movement for participants in amusement attractions and simulation products, e.g., video gaming. Such systems have been designed to provide physical movement to participants in film or computer simulation/gaming activities.
  • the Stewart platform (or hexapod) is a well-known form of simulator which moves a platform relative to a base.
  • hexapods include six linear actuators arranged to move the platform in six degrees of freedom, particularly three linear and three rotational degrees of freedom, relative to the base, depending on which actuators are used in combination.
  • the translational degrees of freedom are commonly known as surge (horizontal movement in the direction of travel), sway (horizontal movement perpendicular to the direction of travel), and heave (vertical motion).
  • the rotational degrees of freedom are known as roll (rotation about an axis parallel to the direction of travel), pitch (rotation about a horizontal axis perpendicular to the direction of travel), and yaw (rotation about a vertical axis).
  • hexapods can have limited workspaces defined by the maximum and minimum excursion of the platform, which is further defined by the limit of travel of the actuators.
  • certain systems may utilize longer actuators, but such longer actuators may substantially increase costs attendant to the simulator and may also decrease the inherent stiffness of the simulator.
  • certain existing motion simulation systems may employ expensive, industrial grade components, further increasing simulator costs.
  • the primary cost driver of existing motion simulation systems is the motion effector subsystem, which includes actuating elements (servo motors), associated gear reduction elements, and associated feedback and control systems.
  • US 5,176,518 A discloses a movement-simulator comprising a frame placed in a floor and a subframe movable relative to that frame.
  • On the subframe e.g. a cockpit with a seat for a user may be fixed.
  • the subframe is movably carried by the frame by means of six hydraulic cylinders.
  • These hydraulic cylinders are connected with a central control assembly and a hydraulic system, by means of which the lengths of the hydraulic cylinders can be varied under program control from a computer.
  • the hydraulic cylinder comprises a cylinder house and a plunger connected with a piston.
  • the variation in length of the hydraulic cylinder is defined as the position difference between the cylinder house and plunger, e.g. the end thereof hingeably connected with said subframe.
  • the invention provides a motion simulation system according to claim 1, a method for operating a motion simulation system according to claim 16 and a non-transitory computer readable medium according to claim 20.
  • the dependent claims define further embodiments.
  • the motion simulation system can include a plurality of weight bearing actuators and a plurality of positioning actuator assemblies. In various embodiments, the motion simulation system can include twice as many positioning actuator assemblies as weight bearing actuators. In some embodiments, the motion simulation system can include three weight bearing actuators and six positioning actuator assemblies. In some embodiments, the end of a weight bearing actuator can be adjacent to ends of a first and second positioning actuator assemblies. The motion simulation system can allow for six degrees of freedom.
  • a motion simulation system includes weight bearing actuators and positioning actuators, such that the weight bearing actuators support the weight of the payload, minimizing the weight the positioning actuators must support.
  • the use of weight bearing actuators can allow for the use of direct drive positioning actuators.
  • embodiments of the motion simulation system can utilize smaller and cost-effective actuators that provide improved movement control and high frequency response (in some embodiments up to 1000 Hz) while providing a desired range of motion and degrees of freedom (e.g. six degrees of freedom).
  • Figure 1 is a perspective view of a motion simulation system 100 with a payload 10 in accordance with some embodiments.
  • Figure 2 is a perspective view of a motion simulation system 100 in accordance with some embodiments.
  • the motion simulation system 100 supports and/or positions a payload 10 relative to a base 110 to provide motion information, signals, or other feedback to a user.
  • the payload 10 can include, but is not limited to, a user, a seat, and/or hardware.
  • the hardware can include, but is not limited to automotive simulation hardware (e.g. a steering wheel and pedals), aviation simulation hardware, or other suitable hardware.
  • the payload 10 can be in excess of 100 kilograms. While embodiments of the motion simulation system may carry or move more payload than certain conventional motion simulation systems, the payload capacity of an embodiment of the motion simulation system may vary with the sizing and configuration of the motion simulation system.
  • a platform 120 can support and position the payload 10 relative to the base 110.
  • the platform 120 includes one or more legs 122 shaped, bent, or otherwise configured to receive, cradle, or otherwise support the payload 10. Portions of the payload 10 can be affixed or secured to the legs 122 of the platform 120.
  • the legs 122 or other features of the platform 120 can be adapted for any suitable payload 10.
  • the platform 120 can be any suitable shape or configuration.
  • the platform 120 can have a planar shape, such as a disk, to allow for a flat surface to support the payload 10.
  • the shape of the platform 120 may be symmetrical or asymmetrical and may otherwise vary.
  • the base 110 can support weight of the platform 120 and the payload 10, as well as the other components of the motion simulation system 100.
  • the base 110 can have a generally hexagonal shape.
  • the shape of the base 110 may be symmetrical or asymmetrical and may otherwise vary.
  • one or more weight bearing actuators 130 can support the weight of the platform 120 and the payload 10 relative to the base 110. Further, one or more positioning actuator assemblies 140 can move or position the platform 120 and the payload 10 relative to the base 110.
  • FIG 3 is a perspective view of a weight bearing actuator 130 of the motion simulation system 100 of Figure 2 in accordance with some embodiments.
  • Figure 4 is a cross-sectional view of a weight bearing actuator 130 of the motion simulation system 100 of Figure 2 in accordance with some embodiments.
  • each weight bearing actuator 130 can support the platform 120 and the payload 10 at a desired pose relative to the base 110.
  • the weight bearing actuators 130 support the platform 120 and the payload 10 without affecting a position of the platform 120 during normal operation.
  • the weight bearing actuator 130 is coupled to the platform 120 and the base 110. As illustrated, one end 136 of the weight bearing actuator 130 can be coupled to the base 110 and an opposing end 136 of the weight bearing actuator 130 can be coupled to the platform 120. In some embodiments, an end 136 can be coupled to an end portion 124 of the legs 122 or any other suitable portion of the platform 120. In some embodiments, the placement of the joints, connections, or ends 136 of the weight bearing actuators 130 relative to the platform 120 and/or base 110 may be co-planar, non-coplanar, symmetric, non-symmetric, or may otherwise vary. In some embodiments, the ends 136 can be pivotably coupled to the base 110 and the platform 120. The ends 136 may include ball joints.
  • the weight bearing actuators 130 can be extended to a desired length to serve as a leg or otherwise support the platform 120 and the payload 10 at a desired pose.
  • the weight bearing actuator 130 is a pneumatic actuator that utilize air pressure to extend and support the platform 120 and the payload 10 at the desired pose.
  • the pneumatic actuator includes a piston rod 134 that is movable relative to a pneumatic cylinder 132.
  • a first end of a piston rod 134 is at least partially disposed within a cavity of a pneumatic cylinder 132 to define a cylinder volume 133.
  • the cylinder volume 133 can be pressurized to advance the piston rod 134 and support the platform 120.
  • the pressure of the cylinder volume 133 can be adjusted to adjust the position of the piston rod 134 relative to the pneumatic cylinder 132 and support various payload weights, platform heights and/or poses.
  • the second end 136 of the piston rod 134 is coupled to the platform 120.
  • the second end 136 of the piston rod 134 may have a travel of approximately 100 mm to 200 mm.
  • the piston rod 134 may have a diameter of approximately 30 mm to 50 mm and may be capable of exerting a force of approximately 500 to 1500 N.
  • the pneumatic cylinder 132 can be pressurized by a pneumatic control circuit.
  • the pneumatic control circuit can include a compressor to pressurize the cylinder volume 133 to a desired pressure via port 139.
  • the pneumatic control circuit can introduce, relieve, or otherwise control pressure within the cylinder volume 133 via port 139.
  • the motion simulation system 100 may be able to self-pressurize the pneumatic actuator by utilizing the piston rod 134 as a pumping element.
  • the positioning actuator assemblies 140 may move the platform through an appropriate series of poses (e.g.
  • the pneumatic cylinder 132 can include a one-way valve to allow for air to enter the cylinder volume 133 and be compressed by the piston rod 134 without escaping the cylinder volume 133 during the self-pressurization procedure.
  • the state or extension of the weight bearing actuators 130 to support the platform 120 and the payload 10 at a desired pose relative to the base 110 can be determined by a calibration process.
  • a calibration process can determine and provide a desired pressure within the cylinder volume 133 of each of the weight bearing actuators 130 to support the platform 120 and the payload 10 at a desired pose relative to the base 110.
  • the weight bearing actuators 130 can be calibrated to support the platform 120 and payload 10 at a pose that allows the motion simulation system 100 to move the platform 120 through a desired range of motion, which may be located at a center of the motion simulation system's 100 motion envelope.
  • the weight bearing actuators 130 can be calibrated to support the platform 120 at a pose that is offset from the center of the motion simulation system's 100 motion envelope.
  • the weight bearing actuators 130 can be calibrated to support the platform 120 at a position that is higher or lower than the center of the motion simulation system's 100 motion envelope.
  • a calibration process may begin by using the positioning actuator assemblies 140 to place the platform 120 in static equilibrium in a preselected pose, which may referred to as a zero position pose.
  • a controller can determine the weight of the platform 120 and the supported payload 10 by detecting the load experienced by the positioning actuator assemblies 140.
  • the load on the positioning actuator assemblies 140 can be determined by current feedback signals analyzed by a controller.
  • the cylinder volumes 133 of each respective weight bearing actuator 130 can be pressurized to minimize the load experienced by the positioning actuator assemblies 140. In some embodiments, minimization of current signals from the positioning actuator assemblies 140 can be used as feedback for closed loop control of pressurization of the weight bearing actuators 130. As described herein, the weight bearing actuators 130 can be pressurized using the pneumatic circuit (i.e. compressor) or via self-pressurization via oscillation of the platform 120.
  • the pneumatic circuit i.e. compressor
  • the pressure of the cylinder volume 133 of each respective weight bearing actuator 130 is established as the equilibrium pressure to support the platform 120 and payload 10 at a desired pose.
  • the stroke of the piston rod 134 relative to the pneumatic cylinder 132 of each respective weight bearing actuator 130 is established as the equilibrium distance or stroke to support the platform 120 and payload 10 at the desired pose.
  • the equilibrium pressure and distance can vary between each weight bearing actuator 130.
  • each weight bearing actuator 130 can be pneumatically isolated from the pneumatic circuit.
  • the calibrated weight bearing actuators allow the motion simulation system 100 to maintain the zero position pose with a minimal amount of torque (and power) from the positioning actuator assemblies 140, since the weight of the platform 120 and the payload 10 is supported or counterbalanced by the weight bearing actuators 130.
  • certain pneumatic actuators may exert a different force based on the position of the piston rod within the variable or swept volume of the actuator. For example, without taking into consideration the effects of temperature, certain pneumatic actuators may exert less actuation force as the piston rod is extended, since the cylinder volume is expanded and the pressure is reduced, and may exert more actuation force as the piston rod is contracted, since the cylinder volume is compressed and the pressure is increased. In certain pneumatic actuators, the force exerted by the actuator may be inversely proportional to the piston position.
  • the weight bearing actuator 130 can provide a relatively large non-variable or dead volume in comparison to the variable swept volume of the pneumatic cylinder 132 and piston rod 134 to minimize variations in pressure and therefore actuation force as the piston rod 134 moves through its stroke.
  • the weight bearing actuator 130 includes a buffer tank 138 in fluid communication with the pneumatic cylinder 132 to provide additional dead volume to the pneumatic cylinder 132.
  • the dead volume of the buffer tank 138 can be in fluid communication with the cylinder volume 133 via the port 139.
  • the dead volume of the buffer tank 138 is significantly larger than the variable volume of the cylinder volume 133, overall variations in pressure in the weight bearing actuator 130 (i.e.
  • the dead volume of the buffer tank 138 is 100% to 500% the variable swept volume of the cylinder volume 133.
  • the weight bearing actuators 130 can provide mechanical damping between moving and fixed parts of the motion simulation system 100.
  • the magnitude of damping effect can be adjusted by controlling the rate of air flow between the buffer tank 138 and an extension chamber of the pneumatic cylinder 132 and/or between the contraction chamber of the pneumatic cylinder 132 and the environment.
  • the rate of air flow can be adjusted during operation to dynamically adjust the magnitude of damping effect provided by the weight bearing actuators 130.
  • the weight bearing actuators 130 may recover and/or recuperate energy from the platform 120 and payload 10 by acting as a spring.
  • the weight bearing actuator 130 can be an active or passive device and may utilize other types of actuators, including, but not limited to, gas struts, gas springs, elastic ropes, linear springs, coil springs, and/or rotary springs.
  • the force exerted by the weight bearing actuator 130 can be adjustable.
  • certain weight bearing actuators may include an adjustable or programmable spring.
  • a programmable spring may include a series elastic actuator (SEA) including an actuator coupled to a load via an elastic element (e.g., one or more springs) and a sensor to measure a degree of force being transferred through the elastic element.
  • SEA series elastic actuator
  • a control loop may be programmed to produce a system that can apply a specified force to the load and make the actuator behave like a spring with the desired stiffness.
  • the force exerted by a weight bearing actuator 130 may be pre-set or otherwise not readily adjustable.
  • certain weight bearing actuators 130 may be configured for a fixed payload and may be initially adjusted or fabricated to provide an appropriate weight bearing force.
  • certain weight bearing actuators 130 can be configured for a fixed payload and may initially adjusted or fabricating utilizing a similar calibration procedure as described herein.
  • the weight bearing actuators 130 can be arranged or otherwise disposed relative to the base 110 and the platform 120 in any suitable arrangement.
  • a motion simulation system 100 can include twice as many positioning actuator assemblies 140 as weight bearing actuators 130.
  • the motion simulation system 100 can include three weight bearing actuators 130.
  • the weight bearing actuators 130 can be equidistantly disposed.
  • FIG. 5 is a perspective view of a positioning actuator assembly 140 of the motion simulation system 100 of Figure 2 in accordance with some embodiments.
  • each positioning actuator assembly 140 can move or position the platform 120 and the payload 10 to a desired pose relative to the base 110.
  • the positioning actuator assemblies 140 can collectively or cooperatively position the platform 120 in any six-dimensional pose relating to surge, sway, heave, yaw, pitch, and roll within the motion space envelope of the motion simulation system 100.
  • the positioning actuator assembly 140 coupled to the platform 120 and the base 110.
  • a positioning actuator 150 can be coupled to the base 110 and an end 148 of a connecting rod 146 can be coupled to the platform 120.
  • an end 148 of the connecting rod 146 can be coupled to an end portion 124 of the legs 122 or any other suitable portion of the platform 120.
  • the placement of the end 148 of a respective positioning actuator assembly 140 relative to the platform 120 may be co-planar, non-coplanar, symmetric, non-symmetric, or may otherwise vary.
  • the ends 148 of the connecting rod 146 can be pivotably coupled to the platform 120 and the positioning actuator 150.
  • the ends 148 may include ball joints.
  • the placement of the positioning actuator 150 of a respective positioning actuator assembly 140 relative to the base 110 may be co-planar, non-coplanar, symmetric, non-symmetric, or may otherwise vary.
  • the positioning actuator assemblies 140 can extend, retract, translate, or otherwise move a respective connecting rod 146 to position the platform 120 and the payload 10 in a desired pose.
  • the positioning actuator assembly 140 includes a positioning actuator 150 to manipulate a connecting rod 146, which in turn (in conjunction with the other positioning actuator assemblies 140) positions the platform 120 in a desired pose.
  • the positioning actuator 150 rotates a rotor 142 to adjust the position of the connecting rod 146, and in particular, the connecting rod end 148 pivotably coupled to the platform 120.
  • a linkage such as a crank 144 is coupled to the rotor 142 can rotate with the rotor 142 can move or translate an opposite connecting rod end 148 pivotably coupled to the crank 144.
  • Rotation of the crank 144 can move or translate the connecting rod 146, and in turn the connecting rod end 148 coupled to the platform 120.
  • the length or geometry of the crank 144 can be altered to adjust the relationship between the rotation of the rotor 142 and the movement of the connecting rod 146.
  • the positioning actuator can include a linear actuator.
  • the direct attachment or connection between the connecting rod 146, the crank 144, and the rotor 142 of the positioning actuator 150 allows for a direct-drive mechanism or arrangement adjust the position of the platform 120.
  • the absence of intervening or intermediate machine or power transmission elements allows for direct and immediate transfer of the weight and inertia of the platform 120 and payload 10 to the positioning actuator 150 and allows for increased system stiffness and response, permitting the motion simulation system 100 to reject or overcome static external disturbances (e.g. when an axis is holding a position or speed) and dynamic external disturbances (e.g. when an axis is following a position or speed trajectory).
  • the use of direct drive mechanisms may require conventional positioning actuators to directly bear the weight of the platform and payload. Therefore, in certain applications, even during static equilibrium, conventional actuators are required to exert constant torque to counterbalance the weight of the platform and payload, increasing energy consumption and demands on the actuators.
  • the use of weight bearing actuators 130 support the load of the platform 120 and the payload 10 enables the use of direct drive positioning actuator assemblies 140 that are not required to directly or constantly bear the weight of the platform 120 and payload 10.
  • the use of weight bearing actuators 130 allows for smaller, lighter, less expensive actuators and other components within the positioning actuator assembly 140 and permits reduced energy consumption, while allowing for a desired performance.
  • FIG 6 is a perspective view of a positioning actuator 150 of the positioning actuator assembly 140 of Figure 5 in accordance with some embodiments.
  • Figure 7 is a see-through perspective view of a positioning actuator 150 of the positioning actuator assembly 140 of Figure 5 in accordance with some embodiments.
  • the positioning actuator 150 rotates the rotor 142 relative to a stator disposed within the housing of the positioning actuator 150.
  • the positioning actuator 150 includes a rotary encoder 152 to determine the rotational position of the rotor 142 relative to the stator or other stationary portions of the positioning actuator 150. Signals from rotary encoder 152 can be used as feedback for closed loop control of the positioning actuator assembly 140 and the motion control system 100, generally.
  • the positioning actuator 150 can include a fan 156 to actively cool components of the positioning actuator 150. The fan 156 can draw in cool air or expel heat through a fan housing 154 formed in the positioning actuator 150.
  • a positioning actuator assembly can include a connecting rod with ball joint ends that allow for the pivot or rotation of the connecting rod relative to the positioning actuator and the platform, while permitting the positioning actuator to control a position of the platform.
  • certain ball joints may have a limited swivel angle, potentially limiting the motion of the connecting rod, and in turn the positioning actuator assembly which may result in limiting the motion envelope of the motion simulation system.
  • certain ball joints may have a swivel angle range of approximately ⁇ 10 degrees, ⁇ 15 degrees, or ⁇ 20 degrees.
  • certain positioning actuator assemblies are positioned such that the motion simulation system cannot utilize the full swivel angle range of the ball joints, potentially limiting the motion envelope of the motion simulation system for a given ball joint swivel angle range.
  • certain positioning actuator assemblies may be positioned such that when the motion simulation system is in a preselected, resting, or zero position pose, the ball joint ends of the respective connecting rods disposed or positioned away from the midpoint of their respective swivel angle range.
  • the ball joint ends may swivel more in one direction and swivel less in another direction, relative to the zero position pose.
  • the reduced swivel travel relative to the zero position pose may impose a limit for the overall motion envelope of the motion simulation system.
  • Figure 8A is a perspective view of a motion simulation system 200a in accordance with some embodiments.
  • Figure 8B is a side elevation view of a positioning actuator assembly 240a of the motion simulation system 200a of Figure 8A , in accordance with some embodiments.
  • one or more of the positioning actuator assemblies 240a can be configured to increase the range of motion or motion envelope of the motion simulation system 200a compared to certain conventional motion simulation systems.
  • the motion simulation system 100 can utilize other types, constructions, or configurations of actuator assemblies or actuators as depicted by their implementation in other systems.
  • one or more of the positioning actuator assemblies 240a can be positioned or disposed to avoid limiting or to otherwise increase the usable range of motion of the joint ends 248a, which in turn would increase the range of motion of the positioning actuator assemblies 240a and the motion envelope of the motion simulation system 200a.
  • positioning actuator assemblies 240a can be positioned such that when the motion simulation system 200a is in a preselected, resting, or zero position pose, the ball joint ends 248a of the respective connecting rods 246a can be disposed or positioned approximately at or near the midpoint of their respective swivel angle range.
  • the ball joint ends 248a can be configured to be positioned approximately at or near the midpoint of their respective swivel angle range when the weight bearing actuators 230a are disposed in an equilibrium configuration or position.
  • the ball joint ends 248a may swivel approximately an equal amount in various directions relative to the zero position pose.
  • the approximately equal swivel travel relative to the zero position pose can maximize the overall motion envelope of the motion simulation system 200a for a given ball joint end 248a.
  • the position of the ball joint ends 248a in the swivel angle range for a given position or pose can be adjusted by changing the angle between the horizontal plane and a motor rotation axis of the positioning actuator 250a, also referred to as a motor dihedral angle.
  • the motor dihedral angle of the positioning actuator 250a can be adjusted such that the ball joint ends 248a can be positioned approximately at or near the midpoint of their respective swivel angle range when the motion simulation system 200a is in a zero position pose.
  • the motor dihedral angle of the positioning actuator 250a can be adjusted such that the ball joint ends 248a are positioned at another desired position of their respective swivel range at a desired pose.
  • the motor dihedral angle of the positioning actuator 250a can be non-zero and positive.
  • the motor dihedral angle of the positioning actuator 250a can range between approximately 0.1 degrees to approximately 20 degrees.
  • the position of the ball joint ends 248a in the swivel angle range for a given position or pose can be adjusted by changing the angle between the platform 220a base plane and a ball joint end 248a axis, also referred to as a platform dihedral angle.
  • the platform dihedral angle of the platform 220a can be adjusted such that the ball joint ends 248a can be positioned approximately at or near the midpoint of their respective swivel angle range when the motion simulation system 200a is in a zero position pose.
  • the platform dihedral angle of the platform 220a can be adjusted such that the ball joint ends 248a are positioned at another desired position of their respective swivel range at a desired pose.
  • the platform dihedral angle of the platform 220a can be non-zero and positive. In some embodiments, the platform dihedral angle of the platform 220a can range between approximately 0.1 degrees to approximately 20 degrees. In some applications, the motor dihedral angle and the platform dihedral angle may be the same, similar, or complementary. In some applications, the motor dihedral angle and the platform dihedral angle may differ.
  • Figure 8C is a perspective view of a motion simulation system 200b in accordance with some embodiments.
  • Figure 8D is a side elevation view of a positioning actuator assembly 240b of the motion simulation system 200b of Figure 8C , in accordance with some embodiments.
  • the motor dihedral angle of the positioning actuator 250b can be non-zero and negative. In some embodiments, the motor dihedral angle of the positioning actuator 250b can range between approximately 0.1 degrees to approximately 20 degrees.
  • the platform dihedral angle of the platform 220b can be non-zero and negative. In some embodiments, the platform dihedral angle of the platform 220b can range between approximately 0.1 degrees to approximately 20 degrees.
  • the motor dihedral angle and the platform dihedral angle may be the same, similar, or complementary. In some applications, the motor dihedral angle and the platform dihedral angle may differ. Further, in some embodiments, the motor dihedral angle and the platform dihedral angle of certain portions of the motion simulation system may be positive or negative, or otherwise non-zero. In some applications, the use of non-zero motor dihedral angles and platform dihedral angles can allow for a smaller profile of the base, as well as for the overall motion simulation system.
  • Figure 8E is a perspective view of a positioning actuator assembly 240c in accordance with some embodiments.
  • the motion simulation system 100 may utilize a positioning actuator assembly 240c (in place of or in conjunction with positioning actuator assembly 140) that includes a crank 244c that is integrated with the rotor 242c.
  • the crank 244c can extend axially from a surface of the rotor 242c, allowing a connecting rod 246c to directly attach or couple to the rotor 242c.
  • the crank 244c can rotate with the rotor 242c to move or translate the connecting rod, and in turn adjust the position of the platform 120.
  • the positioning actuator assembly 240c may have a non-zero motor dihedral angle and/or platform dihedral angle to maximize the swivel range of the ball joint ends 248c relative to a zero position pose.
  • the positioning actuator assembly 240c can have a negative motor dihedral angle and/or platform dihedral angle.
  • the positioning actuator assemblies 140 can be arranged or otherwise disposed relative to the base 110 and the platform 120 in any suitable arrangement.
  • the positioning actuator assemblies 140 can be arranged to allow for the motion simulation system 100 to move in six degrees of freedom.
  • the motion simulation system 100 can include six positioning actuator assemblies 140.
  • the six positioning actuator assemblies 140 can be equidistantly disposed.
  • the positioning actuator assemblies 140 can be spaced apart between 500 mm to 1200 mm.
  • the positioning actuator assemblies 140 can be disposed in a "rotary hexapod" arrangement.
  • the placement of the positioning actuator assemblies 140 may vary relative to the weight bearing actuators 130.
  • a motion simulation system 100 can include twice as many positioning actuator assemblies 140 as weight bearing actuators 130.
  • each weight bearing actuator 130 can be disposed between two positioning actuator assemblies 140, forming three "leg sets" disposed around the base 110 and coupled to the platform 120.
  • an end 136 of the piston rod 134 of a weight bearing actuator 130 coupled to the platform 120 can be disposed between the connecting rod ends 148 of two positioning actuator assemblies 140.
  • the motion simulation system 100 can utilize the positioning actuator assemblies 140 to place the platform 120 and the payload 10 in a desired pose or a streamed succession of poses in response to position input.
  • a controller of the motion simulation system 100 can receive a position input as a streamed succession of pose vectors.
  • the pose vectors can be received at a streaming frequency.
  • the controller of the motion simulation system 100 is capable of receive and/or processing pose vectors at a streaming frequency up to approximately 1000 Hz.
  • the positioning actuator assemblies 140 are capable of positioning the platform 120 in various poses at a streaming frequency up to approximately 1000 Hz.
  • positioning actuator assemblies 140 can be activated simultaneously by utilizing certain features, including, but not limited to, parallel architecture with a synchronizing signal.
  • each received pose vector can be transformed or scaled. Further, each received pose vector can be processed with respect to a kinematic state of the system (e.g. to limit the maximum acceleration and/or velocity of the motion simulation system 100). Further, each received pose vector can be validated against the physical mechanical limits of the motion simulation system 100.
  • the motion simulation system 100 can have a minimum travel limit of approximately -100 mm to -50 mm and a maximum travel limit of approximately 50 mm to 100 mm, and a span of approximately 100 mm to 200 mm in the surge, sway, and heave motion axes.
  • the motion simulation system 100 can have a minimum travel limit of approximately -15 degrees to -5 degrees and a maximum travel limit of approximately 5 degrees to 15 degrees, and a span of approximately 10 degrees to 20 degrees in the heading/yaw, attitude/pitch, and bank/roll axes.
  • a valid pose vector is then translated into a position vector for each respective positioning actuator assembly 140, which is commanded to the respective positioning actuator assembly 140.
  • the controller of the motion simulation system 100 utilizes inverse kinematics to control the position of the platform 120.
  • the controller processes the pose vector to provide an effector position vector, which may be the desired rotation angle of a respective positioning actuator 150. Therefore, a pre-described succession of input pose vectors can result in highly controlled motion of the platform 120.
  • the motion control system 100 can control operation of at least six positioning actuator assemblies 140 to provide six degrees of freedom.
  • the motion control system 100 can be "overactuated" and include more positioning actuator assemblies 140 than desired degrees of freedom.
  • the motion simulation system 100 can utilize "forward" or joint space control (i.e. individual control of each positioning actuator assembly 140), "inverse" or model space control (i.e. control of the motion of the platform 120 as a system), or a hybrid system that may alternate between joint space control or model space control under various circumstances.
  • the motion simulation system 100 may utilize forward kinematics and/or inverse dynamic control to control the position of the platform 120.
  • the motion control simulation system 100 may have independent closed loop control of each positioning actuator assembly 140.
  • the motion simulation system 100 may use position information or other operational information of the positioning actuator 150 to provide closed-loop feedback, adjustment, or control of the input signal to the positioning actuator 150 to provide a desired position or pose.
  • each positioning actuator 150 can include a rotary encoder 152 to provide position information to the motion simulation system 100.
  • the positioning actuator can include a linear actuator with a linear encoder to provide position information to the motion simulation system.
  • the motion simulation system 100 can compare the position information from the rotary encoder 152 to the desired position provided by the effector position vector to adjust the signal or current provided to the positioning actuator 150 to control the positioning of the positioning actuator 150.
  • the motion simulation system 100 can regulate current through the motor coils of the positioning actuator 150, recognizing that current is proportional to the torque output at the rotor 142.
  • Current sensors can provide a feedback signal to allow for closed-loop control of the torque output and operation of the positioning actuator 150.
  • the feedback signals described herein can be processed by a multi-stage control loop of the motion simulation system 100 to generate an appropriate control system response.
  • the response of the control loop for one or more of the positioning actuation assemblies 140 can be configured by selecting and adjusting one or more gain factors.
  • gain factors can be set independently and individually for each positioning actuator assembly 140 and dynamically modified during system operation. Therefore, the positioning actuation assemblies 140 and the motion simulation system 100 generally can be configured to react in various ways, depending on any suitable combination of available and selectable drivers.
  • performance of the motion simulation system 100 can be optimized under diverse conditions, including but not limited to, kinematic operational requirements, payload 10 and payload mass distribution, and platform 120 position.
  • gain factors for control of the positioning actuation assemblies 140 prior to normal operation, gain factors for control of the positioning actuation assemblies 140 can initially be set according to kinematic operational requirements, payload 10 and payload mass distribution, and platform 120 position.
  • the motion simulation system 100 can recover or recuperate energy for later use.
  • the positioning actuators 150 can recover kinetic and/or potential energy from the platform 120. During operation, motion of the platform 120 can energize or back-drive the positioning actuators 150, generating electrical energy.
  • the electrical energy generated by the positioning actuators 150 can be stored in the form of electrical potential energy.
  • the electrical energy can be stored in an energy storage device, such as an ultracapacitor, a supercapacitor, a capacitor, a battery, any other suitable energy storage device, or a combination thereof.
  • the energy storage device can store energy from multiple recovery events. The energy stored in the energy storage device can be deployed back into the motion simulation system 100 as needed. The energy storage device may be connected in parallel with the power supply of the motion simulation system 100. During operation, the energy storage device can rapidly deploy electrical energy in response to high peak current demands that may exceed the capabilities of certain power supplies.
  • the capture, storage, and deployment of electrical energy can supplement the capabilities of the power supply of the motion simulation system 100, allowing for less demand on the power supply.
  • the power supply can be downsized without compromising the kinematic performance of the motion simulation system 100.
  • the motion simulation system may include components or control systems to maintain the health and integrity of the battery.
  • Figure 9 is a perspective view of a motion simulation system 100a with a payload 10 in accordance with some embodiments.
  • Figure 10 is a perspective view of a motion simulation system 100a in accordance with some embodiments.
  • motion simulation system 100a include certain features that are similar to the features of motion simulation system 100. Therefore certain features of motion simulation system 100a that are similar to features of motion simulation system 100 are identified with similar reference numerals.
  • the motion simulation system 100a includes a curved platform 120a to support the payload 10.
  • the platform 120a includes one or more curved legs 122a that are shaped to cradle or otherwise support the payload 10.
  • the curved legs 122a can be vertical and/or horizontally curved.
  • the curved legs 122a can define a compound curve in multiple planes.
  • the curved legs 122a can be configured to support or cradle an automotive seat. Portions of the payload 10 can be affixed or secured to the legs 122a of the platform 120a.
  • the legs 122a or other features of the platform 120a can be adapted for any suitable payload 10.
  • an end of the weight bearing actuator 130 can be coupled to a middle portion 124a of the legs 122a or any other suitable portion of the platform 120a. Further, in some embodiments, an end of the positioning actuator assembly 140 can be coupled to a middle portion 124a of the legs 122a or any other suitable portion of the platform 220.
  • FIGS. 11A-11G are each perspective views of a motion simulation system 300a through 300g in accordance with some embodiments.
  • FIGS. 11A-11G illustrate various embodiments of motion simulation systems in accordance with the present disclosure that utilize positioning actuator assemblies 340 and weight bearing actuators 330.
  • the positioning actuator assemblies 340 and weight bearing actuators 330 depicted herein may be substituted with any other acceptable positioning actuator assembly and weight bearing actuator, including components described herein.
  • a mixture of different types of positioning actuator assemblies 340 and/or weight bearing actuators 330 is also possible.
  • a six degree-of-freedom motion simulation system may employ a minimum of six positioning actuator assemblies 340.
  • a six degree-of-freedom motion simulation system may be "overactuated" and include more than six positioning actuator assemblies 340.
  • the number of weight bearing actuators 330 can also vary.
  • the arrangement and configuration of the positioning actuator assemblies 340 and the weight bearing actuators 330 described herein can be implemented with any other suitable motion simulation system described herein.
  • arrangement and positioning of the positioning actuator assemblies 340 and/or weight bearing actuators 330 can be symmetrical or non-symmetrical.
  • the arrangement and positioning of the weight bearing actuators 330 with respect to the positioning actuator assemblies 340 can vary as well.
  • the shape of the base 310 and the shape of the platform 320 can vary, with such shapes being symmetrical or non-symmetrical.
  • the arrangement and positioning of the joints with respect to the base 310 and/or the platform 320 can vary, such as by being co-planar or not co-planar, symmetrical or non-symmetrical, etc.
  • the motion simulation system can utilize a circular platform 320 and a circular base 310.
  • an embodiment of the motion simulation system 300a includes six positioning actuator assemblies 340 and three weight bearing actuators 330, with each weight bearing actuator 330 being disposed between two adjacent positioning actuator assemblies 340.
  • an embodiment of the motion simulation system 300b includes nine positioning actuator assemblies 340 and three weight bearing actuators 330, with the nine positioning actuator assemblies 340 being arranged in groupings of three positioning actuator assemblies 340 and each weight bearing actuator 330 disposed between the separate groupings.
  • an embodiment of the motion simulation system 300c includes six positioning actuator assemblies 340 and three weight bearing actuators 330, with the six positioning actuator assemblies 340 being arranged in groupings of two positioning actuator assemblies 340 and each weight bearing actuator 330 disposed between the separate groupings.
  • an embodiment of the motion simulation system 300d includes six positioning actuator assemblies 340 and three weight bearing actuators 330, with the six positioning actuator assemblies 340 being arranged in groupings of two positioning actuator assemblies 340 and each weight bearing actuator 330 disposed in a more central position on the base 310, thereby supporting a more central location of the platform 320.
  • an embodiment of the motion simulation system 300e includes six positioning actuator assemblies 340 and six weight bearing actuators 330, with the six positioning actuator assemblies 340 being arranged in groupings of two positioning actuator assemblies 340, with a weight bearing actuator 330 disposed between each of the separate groupings and the three other weight bearing actuators 330 disposed in a more central position on the base 310, thereby supporting a more central location of the platform 320.
  • an embodiment of the motion simulation system 300f includes six positioning actuator assemblies 340 and nine weight bearing actuators 330, with the six positioning actuator assemblies 340 being arranged in groupings of two positioning actuator assemblies 340, with a weight bearing actuator 330 disposed between the two positioning actuator assemblies 340 of each grouping and between each of the separate groupings, with the three other weight bearing actuators 330 disposed in a more central position on the base 310, thereby supporting a more central location of the platform 320.
  • an embodiment of the motion simulation system 300g includes seven positioning actuator assemblies 340 and three weight bearing actuators 330, with each weight bearing actuator 330 being disposed between two adjacent positioning actuator assemblies 340 and the seventh positioning actuator assembly 340 being disposed in a more central position on the base 310, thereby supporting a more central location of the platform 320.
  • Figure 12 is a perspective view of a motion simulation system 400 in accordance with some embodiments.
  • Figure 13 is a perspective view of an integrated linear actuator unit 460 of the motion simulation system 400 of Figure 12 in accordance with some embodiments.
  • Figure 14 is an elevation view of an integrated linear actuator unit 460 of Figure 13 .
  • Figure 15 is a perspective view of a weight bearing actuator 430 of the integrated linear actuator unit 460 of Figure 13 in accordance with some embodiments.
  • the motion simulation system 400 utilizes integrated linear actuator units 460 to support and position a payload relative to a base 410 to provide motion information, signals, or other feedback to a user.
  • a platform 420 can support and position the payload relative to the base 410.
  • the platform 420 can include one or more legs 422 formed into a space frame configured to receive, cradle, or otherwise support the payload. Portions of the payload can be affixed or secured to the legs 422 of the platform 420. The legs 422 or other features of the platform 420 can be adapted for any suitable payload.
  • the platform 420 can be any suitable shape or configuration. In some embodiments, the shape of the platform 420 may be symmetrical or asymmetrical and may otherwise vary.
  • Figure 16 is a perspective view of a motion simulation system 400a in accordance with some embodiments. As illustrated in FIG. 16 , with respect to motion simulation system 400a, in some embodiments, the platform 420a may have a flat or planar shape. In some embodiments, the platform 420a may have a generally circular or disk-like shape.
  • the base 410 can support weight of the platform 420 and the payload, as well as the other components of the motion simulation system 400. As illustrated, the base 410 can have a generally circular or disk-like shape. In some embodiments, the shape of the base 410 may be symmetrical or asymmetrical and may otherwise vary.
  • each integrated linear actuator unit 460 includes a weight bearing actuator 430 to support the weight of the platform 420 and any payload and a positioning actuator assembly 440 to position the platform 420 and any payload, both disposed at least partially in a common housing 462 of the integrated linear actuator unit 460.
  • the integrated linear actuator units 460 is coupled to the platform 420 and the base 410.
  • one end 436 of the weight bearing actuator 430 of the integrated linear actuator unit 460 can be coupled to the base 410 and an opposing end 436 of the weight bearing actuator 430 can be coupled to the platform 420.
  • an end 436 can be coupled to an end portion 424 of the legs 422 or any other suitable portion of the platform 420.
  • the placement of the joints, connections, or ends of the integrated linear actuator units 460 relative to the platform 420 and/or base 410 may be co-planar, non-coplanar, symmetric, non-symmetric, or may otherwise vary.
  • the ends 436 can be pivotably coupled to the base 410 and the platform 420.
  • the ends 436 may include ball joints.
  • each integrated linear actuator unit 460 can be extended to a desired length to serve as a leg or otherwise support the platform 420 and the payload at a desired pose.
  • each integrated linear actuator unit 460 includes a weight bearing actuator 430 to support the platform 420 and any payload at a desired relative pose relative to the base 410.
  • the weight bearing actuator 430 supports the platform 420 and the payload without affecting a position of the platform 420 during normal operation.
  • the weight bearing actuator 430 is coupled to the housing 462 of the integrated linear actuator unit 460.
  • a piston rod 434 of the weight bearing actuator 430 extends through the housing 462.
  • an end 436 of the weight bearing actuator 430 extends through an opposite side of the housing 462.
  • the weight bearing actuator 430 is a pneumatic actuator that utilize air pressure to extend and support the platform 420 and the payload at the desired pose.
  • the weight bearing actuator 430 may include features and/or may operate in a manner that is similar to features and/or the manner of operation of the weight bearing actuator 130. Unless otherwise noted, similar reference numerals may be used to features of the weight bearing actuator 430 that are similar to the features of weight bearing actuator 130.
  • the weight bearing actuator 430 can utilize other types of actuators, including, but not limited to, gas struts, gas springs, elastic ropes, linear springs, coil springs, and/or rotary springs.
  • the weight bearing actuator 430 includes one or more buffer tanks 438 in fluid communication with the pneumatic cylinder 432 to provide additional dead volume to the pneumatic cylinder 432.
  • the one or more buffer tanks 438 can be coupled to a body of the pneumatic cylinder 432.
  • the use of multiple buffer tanks 438 can allow for a desired dead volume while allowing for flexibility or configurability of the envelope of the weight bearing actuator 430.
  • the use of multiple buffer tanks 438 may allow for a relatively compact design to allow the pneumatic cylinder 432 and the buffer tanks 438 to be disposed within the housing 462 of the integrated linear actuator unit 460 while allowing for a desired dead volume.
  • each integrated linear actuator unit 460 can be extended to a desired length to position the platform 420 and the payload in a desired pose.
  • each integrated linear actuator unit 460 includes a positioning actuator assembly 440 to move or position the platform 420 and the payload to a desired pose relative to the base 410.
  • the positioning actuator assembly 440 can impart a force or otherwise act upon the weight bearing actuator 430 of the same integrated linear actuator unit 460 to position (in conjunction or cooperatively with the other integrated linear acutator units 460) the platform 420 in any six-dimensional pose relating to surge, sway, heave, yaw, pitch, and roll within the motion space envelope of the motion simulation system 400.
  • the positioning actuator assembly 440 is coupled to the weight bearing actuator 430 and the housing 462 of the integrated linear actuator unit 460.
  • an end 448 of the connecting rod 446 is pivotably coupled to the piston rod 434 of the weight bearing actuator 430 at a junction 464.
  • junction 464 between the connecting rod 446 and the piston rod 434 may be disposed between the pneumatic cylinder 432 and an end 436 of the piston rod 434.
  • the junction 464 can be disposed within the housing 462 of the integrated linear actuator unit 460.
  • the body of the positioning actuator can be coupled to the housing 462 of the integrated linear actuator unit 460.
  • the positioning actuator assembly 440 includes a positioning actuator to manipulate the connecting rod 446, which in turn positions the piston rod 434 of the weight bearing actuator 430, and ultimately the platform 420 in a desired pose.
  • the positioning actuator assembly 440 may include features and/or may operate in a manner that is similar to features and/or the manner of operation of the positioning actuator assembly 140. Unless otherwise noted, similar reference numerals may be used to features of the positioning actuator assembly 440 that are similar to the features of positioning actuator assembly 140.
  • the integrated linear actuator units 460 can be arranged or otherwise disposed relative to the base 410 and the platform 420 in any suitable arrangement.
  • the integrated linear actuator units 460 can be arranged to allow for the motion simulation system 400 to move in six degrees of freedom.
  • the motion simulation system 400 can include six integrated linear actuator units 460.
  • the six integrated linear actuator units 460 can be equidistantly disposed.
  • the integrated linear actuator units 460 can be disposed in a "linear hexapod" arrangement.
  • the motion simulation system 400 can utilize the integrated linear actuator units 460 to place the platform 420 and the payload in a desired pose or a streamed succession of poses in response to position input.
  • a controller of the motion simulation system 400 can receive a position input as a streamed succession of pose vectors.
  • the implementation of integrated linear actuator units 460 may simplify the mathematical complexity of the kinematic equations to convert the position input to a resulting motion of the motion simulation system 400.
  • a human machine interface can utilize direct drive actuators to accept motion input from an operator and to position an input portion of the interface to provide haptic feedback.
  • the human machine interface or haptic device may be able to receive input with 6 degrees of freedom and provide haptic feedback with 6 degrees of freedom.
  • the human machine interface can include features, structures, and/or configurations of the motion simulation systems described herein. In some embodiments, such as certain low mass applications, the human machine interface may include or may not include weight bearing actuators.
  • Figure 17 is a perspective view of a haptic device 500 in accordance with some embodiments.
  • Figure 18 is an elevation view of the haptic device 500 of Figure 17 .
  • the haptic device 500 receives motion input from an operator through an input portion 502 and provides motion or haptic information, signals, or other feedback to a user via the same input portion 502.
  • the input portion 502 can be a knob, joystick, mouse, or any other suitable input device or structure.
  • a platform 520 can support, position, and move with the input portion 502 relative to the base 510.
  • the platform 520 can be shaped or configured to receive or otherwise support the input portion 502. Portions of the input portion 502 can be affixed or secured to the platform 520.
  • the platform 520 can have a planar shape, such as a disk, to allow for a flat surface to support the input portion 502.
  • the shape of the platform 520 may be symmetrical or asymmetrical and may otherwise vary.
  • the base 510 can support weight of the platform 520 and the input portion 502, as well as the other components of the haptic device 500. As illustrated, the base 510 can have a generally triangular shape. In some embodiments, the shape of the base 510 may be symmetrical or asymmetrical and may otherwise vary.
  • one or more weight bearing actuators 530 can support the weight of the platform 520, the input portion 502, and the operator's applied weight relative to the base 510.
  • the weight bearing actuators 530 may include features, may operate, or otherwise may be implemented in a manner that is similar to features and/or the manner of operation of the weight bearing actuators described herein, including, but not limited to weight bearing actuator 130 and/or weight bearing actuator 430.
  • the weight bearing actuators 530 Prior to normal operation of the haptic device 500 the weight bearing actuators 530 can be extended to a desired length to serve as a leg or otherwise support the platform 520 and the input portion 502 at a desired pose.
  • the weight bearing actuator 530 for a haptic device 500 can utilize other types of actuators, including, but not limited to, gas struts, gas springs, elastic ropes, linear springs, coil springs, and/or rotary springs.
  • the weight bearing actuators 530 can be arranged or otherwise disposed relative to the base 510 and the platform 520 in any suitable arrangement.
  • a haptic device 500 can include twice as many positioning actuator assemblies 540 as weight bearing actuators 530.
  • the haptic device 500 can include three weight bearing actuators 530.
  • the weight bearing actuators 530 can be equidistantly disposed.
  • the haptic device 500 may utilize the one or more positioning actuator assemblies 540 to support the weight of the platform 520, the input portion 502, and the operator's applied weight relative to the base 510 without the use of weight bearing actuators.
  • the haptic device 500 includes one or more positioning actuator assemblies 540 can receive motion input from the operator and position the platform 520 and the input portion 502 relative to the base 510.
  • the positioning actuator assembly 540 can receive motion input from the operator and position the platform 520 with respect to any six-dimensional pose relating to surge, sway, heave, yaw, pitch, and roll within the motion space envelope of the haptic device 500.
  • the positioning actuator assembly 540 may include features, may operate, or otherwise may be implemented in a manner that is similar to features and/or the manner of operation of the positioning actuator assemblies described herein, including, but not limited to positioning actuator assembly 140, positioning actuator assembly 240 and/or positioning actuator assembly 440.
  • the positioning actuator assemblies 540 can be arranged or otherwise disposed relative to the base 510 and the platform 520 in any suitable arrangement.
  • the positioning actuator assemblies 540 can be arranged to allow for the haptic device 500 to receive position input and/or move in six degrees of freedom.
  • the haptic device 500 can include six positioning actuator assemblies 540.
  • the six positioning actuator assemblies 540 can be equidistantly disposed.
  • the six positioning actuator assemblies 540 can be disposed in three "leg sets" disposed around the base 510 and coupled to the platform 520.
  • the positioning actuator assemblies 540 can be disposed in a "rotary hexapod" arrangement.
  • the direct attachment or connection between the components of the positioning actuator assembly 540 allows for a direct-drive mechanism or arrangement.
  • the direct drive arrangement of the positioning actuator assemblies 540 allows for motion or other inputs by the operator through the input portion 502 and/or the platform 520 to provide the operator's position input to another device, such as a computer.
  • the motion of the input portion 502 and/or the platform 520 can energize or back-drive the positioning actuator assemblies 540 to generate signals corresponding to the position input of the operator.
  • a controller of the haptic device 500 can receive a position input from the operator via a signal received from the positioning actuator assemblies 540. During operation, the controller of the haptic device 500 can convert or translate the signals of the positioning actuator assemblies 540 into a signal that can be utilized by a connected device (e.g. a computer) as a position input signal. In some embodiments, the controller of the haptic device 500 may utilize appropriate methods (e.g. forward kinematics) provide a desired position input signal to the connected device.
  • appropriate methods e.g. forward kinematics
  • the haptic device 500 can utilize the positioning actuator assemblies 540 to place the platform 520 and the input portion 502 in a desired pose or a streamed succession of poses in response to position input to provide haptic feedback to the operator.
  • a controller of the haptic device 500 can receive a haptic or position input as a streamed succession of pose vectors.
  • the controller of the haptic device 500 may include features, may operate, or otherwise may be implemented in a manner that is similar to features and/or the manner of operation of the controllers of the motion simulation systems described herein, including, but not limited to the controller of the motion simulation system 100.
  • first, second, etc. are, in some instances, used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another.
  • a first valve could be termed a second valve, and, similarly, a second valve could be termed a first valve, without departing from the scope of the various described embodiments.
  • the first valve and the second valve are both valves, but they are not the same valve unless explicitly stated.
  • the term “if” is, optionally, construed to mean “when” or “upon” or “in response to determining” or “in response to detecting” or “in accordance with a determination that,” depending on the context.
  • the phrase “if it is determined” or “if [a stated condition or event] is detected” is, optionally, construed to mean “upon determining” or “in response to determining” or “upon detecting [the stated condition or event]” or “in response to detecting [the stated condition or event]” or “in accordance with a determination that [a stated condition or event] is detected," depending on the context.

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Claims (20)

  1. Ein Bewegungssimulationssystem, umfassend: eine Basis (110); und eine Plattform (120) zum Stützen einer Nutzlast (10); einen gewichtstragenden Aktuator (130), der mit der Basis (110) verbunden ist, wobei der gewichtstragende Aktuator (130) umfasst: einen Pneumatikzylinder (132), der einen Hohlraum festlegt; und eine Kolbenstange (134), die zumindest teilweise innerhalb des Hohlraums des Pneumatikzylinders (132) angeordnet ist, wobei ein erstes Ende (136) der Kolbenstange (134) und der Hohlraum des Pneumatikzylinders (132) ein Volumen (133) des Pneumatikzylinders (132) festlegen, wobei das Volumen des Pneumatikzylinders (132) eingerichtet ist, unter Druck gesetzt zu werden, um ein Gewicht der Nutzlast (10) zu stützen, und ein zweites Ende (136) der Kolbenstange (134) mit der Plattform (120) gekoppelt ist; und gekennzeichnet durch:
    eine Positionierungsaktuatoranordnung (140), die mit der Basis (110) verbunden ist, wobei die Positionierungsaktuatoranordnung (140) umfasst:
    einen Positionierungsaktuator (150), umfassend:
    einen Stator; und
    einen Rotor (142), der eingerichtet ist, sich relativ zu dem Stator zu drehen; und
    einen Verbindungsstab (146), der mit dem Rotor (142) gekoppelt ist, wobei der Verbindungsstab (146) mit der Plattform (120) gekoppelt ist, wobei der Rotor (142) eingerichtet ist, sich zu drehen, um den Verbindungsstab (146) zu verschieben und die Plattform (120), die von dem gewichtstragenden Aktuator (130) gestützt wird, zu positionieren.
  2. Das Bewegungssimulationssystem gemäß Anspruch 1, ferner umfassend eine zweite Positionierungsaktuatoranordnung, wobei die zweite Positionierungsaktuatoranordnung eingerichtet ist, die Nutzlast (10), die von dem gewichtstragenden Aktuator (130) gestützt wird, in Kooperation mit der Positionierungsaktuatoranordnung (140) zu positionieren.
  3. Das Bewegungssimulationssystem gemäß Anspruch 1, ferner umfassend eine Vielzahl von zusätzlichen gewichtstragenden Aktuatoren (130) und eine Vielzahl von zusätzlichen Positionierungsaktuatoranordnungen (140), wobei die Vielzahl von zusätzlichen gewichtstragenden Aktuatoren (130) eingerichtet sind, unter Druck gesetzt zu werden, um das Gewicht der Nutzlast (10) in Kooperation mit dem gewichtstragenden Aktuator (130) zu stützen, und die Vielzahl von zusätzlichen Positionierungsaktuatoranordnungen (140) eingerichtet sind, die Nutzlast (10), die von dem gewichtstragenden Aktuator (130) gestützt wird, und die Vielzahl von gewichtstragenden Aktuatoren (130) in Kooperation mit der Positionierungsaktuatoranordnung (140) zu positionieren.
  4. Das Bewegungssimulationssystem gemäß Anspruch 3, wobei die Vielzahl von zusätzlichen gewichtstragenden Aktuatoren (130) zwei zusätzliche gewichtstragende Aktuatoren umfasst und die Vielzahl von zusätzlichen Positionierungsaktuatoranordnungen (140) fünf zusätzliche Positionierungsaktuatoranordnungen umfasst.
  5. Das Bewegungssimulationssystem gemäß einem der vorhergehenden Ansprüche, wobei der gewichtstragende Aktuator (130) einen Puffertank (138) umfasst, der ein Totvolumen in Fluidkommunikation mit dem Volumen des Pneumatikzylinders (132) festlegt.
  6. Das Bewegungssimulationssystem gemäß Anspruch 6, wobei ein Bewegungsbereich des ersten Endes der Kolbenstange (134) relativ zu dem Hohlraum des Pneumatikzylinders (132) ein überstrichenes Volumen festlegt, und das Totvolumen zwischen ungefähr 100% bis ungefähr 500% des überstrichenen Volumens beträgt.
  7. Das Bewegungssimulationssystem gemäß einem der vorhergehenden Ansprüche, wobei das Volumen des Pneumatikzylinders (132) durch Oszillieren des ersten Endes der Kolbenstange (134) relativ zu dem Pneumatikzylinder (132) unter Druck gesetzt wird.
  8. Das Bewegungssimulationssystem gemäß einem der vorhergehenden Ansprüche, wobei die Positionierungsaktuatoranordnung (140) einen Hebel (144) umfasst, der schwenkbar mit dem Rotor (142) und dem Verbindungsstab (146) gekoppelt ist.
  9. Das Bewegungssimulationssystem gemäß Anspruch 8, wobei der Hebel (144) integral mit dem Rotor (142) ausgebildet ist.
  10. Das Bewegungssimulationssystem gemäß einem der vorhergehenden Ansprüche, ferner umfassend ein Linearaktuatorgehäuse, wobei der gewichtstragende Aktuator (130) und die Positionierungsaktuatoranordnung (140) zumindest teilweise innerhalb des Linearaktuatorgehäuses angeordnet sind.
  11. Das Bewegungssimulationssystem gemäß Anspruch 10, wobei ein Ende des Verbindungsstabs (146) schwenkbar mit der Kolbenstange (134) zwischen dem ersten Ende und einem zweiten Ende der Kolbenstange (134) gekoppelt ist.
  12. Das Bewegungssimulationssystem gemäß einem der vorhergehenden Ansprüche, ferner umfassend eine Steuerung, die eingerichtet ist, den Betrieb des gewichtstragenden Aktuators (130) und des Positionierungsaktuators (140) zu steuern.
  13. Das Bewegungssimulationssystem gemäß Anspruch 12, wobei die Steuerung eingerichtet ist, das Volumen des Pneumatikzylinders (132) zum Erreichen eines Drucks unter Druck zu setzen, um eine Stromaufnahme des Positionierungsaktuators zu minimieren.
  14. Das Bewegungssimulationssystem gemäß Anspruch 12, wobei die Steuerung eingerichtet ist, den Betrieb des Positionierungsaktuators bei einer Frequenz von bis zu ungefähr 1000 Hz zu steuern.
  15. Das Bewegungssimulationssystem gemäß einem der vorhergehenden Ansprüche, ferner umfassend eine elektrische Speichervorrichtung, die eingerichtet ist, Energie aufzunehmen, die durch den Positionierungsaktuator erzeugt wird.
  16. Ein Verfahren zum Betreiben eines Bewegungssimulationssystems gemäß einem der vorhergehenden Ansprüche, wobei das Verfahren umfasst:
    Beaufschlagen des gewichtstragenden Aktuators (130) mit Druck, um die Plattform (120) relativ zu der Basis (110) zu stützen; und
    Bewegen der Plattform (120) durch Betätigen des Positionierungsaktuators der Positionierungsaktuatoranordnung (140).
  17. Das Verfahren gemäß Anspruch 16, ferner umfassend:
    Erfassen einer Stromaufnahme der Positionierungsaktuatoranordnung (140); und
    Beaufschlagen des gewichtstragenden Aktuators (130) mit Druck auf einen gewünschten Druck, um die Stromaufnahme der Positionierungsaktuatoranordnung (140) zu minimieren.
  18. Das Verfahren gemäß Anspruch 16 oder 17, ferner umfassend:
    Stützen der Plattform (120) durch den Positionierungsaktuator vor dem Beaufschlagen des gewichtstragenden Aktuators (130) mit Druck.
  19. Das Verfahren gemäß einem der Ansprüche 16 bis 18, ferner umfassend:
    Bestimmen einer jeweiligen Drehposition der Positionierungsaktuatoranordnung (140); und
    Einstellen eines Verstärkungsfaktors für die Positionierungsaktuatoranordnung (140) als Reaktion auf das Vergleichen der jeweiligen Drehposition der Positionierungsaktuatoranordnung mit einer gewünschten Drehposition der Positionierungsaktuatoranordnung (140).
  20. Ein nicht-flüchtiges computerlesbares Medium, das Anweisungen speichert, die eingerichtet sind, einen Prozessor einer entsprechenden Systemvorrichtung zu veranlassen, ein System gemäß einem der Ansprüche 1 bis 15 zumindest zu steuern zum:
    Erfassen einer Stromaufnahme der Positionierungsaktuatoranordnung (140); und
    Beaufschlagen des gewichtstragenden Aktuators (130) mit Druck zum Erreichen eines gewünschten Drucks, um die Stromaufnahme der Positionierungsaktuatoranordnung (140) zu minimieren.
EP23719455.0A 2022-02-09 2023-02-08 System und verfahren zur bewegungssimulation Active EP4475971B1 (de)

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PCT/IB2023/051091 WO2023152640A1 (en) 2022-02-09 2023-02-08 Motion simulation system and method

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US20250281844A1 (en) * 2024-03-11 2025-09-11 Arkinematics Ltd Motion simulation system with rolling bearings

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AU2023219288A1 (en) 2024-09-12
JP2025506480A (ja) 2025-03-11
CA3217174C (en) 2025-02-11
EP4475971A1 (de) 2024-12-18
CA3217174A1 (en) 2023-08-17
US20230256352A1 (en) 2023-08-17
CN119136887A (zh) 2024-12-13
EP4475971C0 (de) 2025-11-26
WO2023152640A1 (en) 2023-08-17

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