GB2179605A - Motion simulator - Google Patents

Motion simulator Download PDF

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Publication number
GB2179605A
GB2179605A GB8521298A GB8521298A GB2179605A GB 2179605 A GB2179605 A GB 2179605A GB 8521298 A GB8521298 A GB 8521298A GB 8521298 A GB8521298 A GB 8521298A GB 2179605 A GB2179605 A GB 2179605A
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GB
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Patent type
Prior art keywords
frame
secured
apparatus
means
leg
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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.)
Granted
Application number
GB8521298A
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GB8521298D0 (en )
GB2179605B (en )
Inventor
John William Hart
Anthony John Summerfield
William David Lee
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.)
Link-Miles Ltd
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Link-Miles 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

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Classifications

    • GPHYSICS
    • G09EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09BEDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00Simulators for teaching or training purposes
    • G09B9/02Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/08Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
    • G09B9/12Motion systems for aircraft simulators
    • G09B9/14Motion systems for aircraft simulators controlled by fluid actuated piston or cylinder ram

Description

1 GB 2 179 605 A 1

SPECIFICATION

Motion simulator 4 v 1 50 This invention relatesto motion simulator systems 70 and more particularlyto a ground vehicle motion simulator system.

When training peopleto control such thingsas aircraftand largevehicles it is more convenientto begin with simulated experience before embarking on expensive and potentially less safetraining on the real thing. Forthis purpose simulators have been developed.

The simulation of motion by means of a simulator relies partially upon thefactthatthe human brain can be influenced into experiencing apparent motion by a combination of momentary accelerations, inclina tions of the body and visual effects.

In simulating ground vehicles it is necessaryto represent, not onlythe motion of the vehicle butalso sometimes severe attitudes induced bytheterrain overwhich the vehicle is supposed to betravelling.

To achievethis simulation of motion there are cur rently several simulated motion systems forvarious applications. One of these is a synergistic six degrees of freedom (6 D.O.F.) system,which is primarily used forsimulating the flying characteristics of aircraft.

The six degrees of freedom are pitch, roll, yaw, surge, sway and heave. Also there arethree degrees of free dom (3 D.O.F.) systems which are derived according tothe characteristics required to be simulated and are adequate in the simulation of the principal character istics of some single seat light aircraft and ground vehicles.

6 D.O.F. systems are usually designed with the 100 simulation of acceleration in mind as well asthe simulation of attitude. This acceleration simulation is acheived by accelerating thetrainee awayfrom a mean position on the simulator and graduallyfading them backto the mean position; a procedure known as'washing out'. As ground vehicle development has progressed, the need to provide more complex and expanded training programs has increased. This has to be reflected in the performance of motion simula tion systems. Thusfor ground vehicles, a motion simulation system must be capable of providing both the simulation of the supposed terrain (static) andthe characteristics of the vehicle in reaction thereto (dynamic), i.e. pitching, rolling, yawing and heaving, whilst still achieving the simulation of longitudinal accelerations clueto the vehicle acceleration, braking, gearchanging and the like. Natural physical limits occur in the use of synergistic motion systems which prevent such longitudinal acceleration simulation without it adversely affecting the quality of the simu lation of the various other effects.

Previous synergistic 6 D.O.F. systems will simulate the general terrain effects, whether static or dynamic, as feitthrough vehicle suspension, but may not pro vide the additional requirements of acceeleration or surge on top of this, particularly when at extreme attitudes.

The current 3 D.O.F. systems have f ixed centres of rotation. This particularly limits their ability to place the driver in the correct relationship with respect to the simulated vehicle centre of rotation. This is not the case in a 6 D.O. F. motion system asthe instantaneous centre of rotation may be in any position. 3 D.O.F. motion systems also sufferfrom the disadvantagethatthey may not settle in a level position when the powersystem malfunctions, hence a level of agility may be required bythe traineeto enable him or her to evacuate the vehicle. Furthermore, such fixed centres of rotation in 3 D.O.F. systems only allow pitch- ing, rolling and yawing effects in addition to the static ground effects. Dynamic ground effects, such as heaving, and surge effects, such as braking, acceierating and gear changing, can only be added via the pitch axis which is not strictly realistic.

Thus, according to the present invention there is provided apparatus for simulating motion comprising a main frame, a plurality of extensible and retractable legs, each leg being secured to the main frame at one end thereof by means of a corresponding univer- sal pivot and independently actuated to extend and retract by leg actuating means, a foot, secured to the other end of each leg by means of a further corresponding universal pivot, anchoring the other ends of the legs in their relative positions, and a surgeframe slidably mounted on a straighttrack on the main frame and actuated to move on the track by means of frame actuating means.

A specific embodiment of the invention will now be described byway of example with reference to the accompanying drawings in which:

Figure 1 is a schematic diagram of a motion simulator incorporating the invention, and Figure2 is an exploded view of the frames of Figure 1 and illustrating the mounting position of a suitable cabin.

Referring to the figures, a main frame 10 is supported on a set of six extensible and retractable legs 11. Each leg 11 is secured at one end to the underside of the frame 10 by means of a corresponding univer- sal pivot (not shown) to define a generally triangular shape, such thatthe ends of a pair of legs 11 is located nominally at each vertex of the generally triangular shape. Each leg 11 from one vertex is secured at its other end to a foot 12, along with the adjacent leg 11 of an adjacentvertex, also by means of a corresponding universal pivot 13.

The legs 11 are independently actuated such that the attitude of the frame 10 is variable according to the relative extension and retraction of each leg 11. As such,the frame is able to simulate motion according to the basic 6 D.O.F. system which, in this embodiment, is designed around a motion leg extension with the abilityto achieve 30.060 of pitch.

The main frame 10 hasthree halves 14 of three linear bearings mounted on its upper surface,the axis of each bearing half 14 being in the fore/aft direction of the frame 10. The other half 15 of each bearing is attached to the underside of a surgeframe 16. With the corresponding halves 14 and 15 of the bearing cooperating the surge frame 16 is f reeto movefore and aftwithin the bearing limits.

The surgeframe 16 is moved on the linear bearings by means of an independently actuated hydraulic piston and cylinder device 17. The cylinder isfixedly securedtothe mainframe 10 bya trunnion 19 andthe 2 GB 2 179 605 A 2 piston is connected with the surge frame 16 bya piston rod 18. A driver's cabin 20 is rigidly secured to thesurgeframe 16 such that a trainee will experience the supplementary surge effects inthedirection heis 5 facing atthattime.

The surgeframe 16 is symmetrically disposed aboutthe mainframe roll axiswith the longitudinal actuator 17 being mounted directly above the roll axis.When the main motionframe 10 is driven inthe modes of pitch, roll,yaworheave etc., oranycombination of these,the actuator 17 can be driven separateiyto provide acceleration cues, in the direction of motion being simulated atthetime, withoutdegradation of the other motion cues.

Signals to drivethe longitudinal actuator 17 will be generated either bythe operation of an accelerator, footbrake orgearselector. Translation of the signals will be via pre-programmed softwarewhich controls the movement of the actuators.

Claims (6)

1. Apparatus for simulating motion comprising a mainframe, a plurality of extensible and retractable legs, each leg being secured to the mainframe, ata first end thereof, by means of a corresponding universal pivot, and secured at the second end thereof, by means of a further corresponding universal pivot, to a foot such that the second end of each leg is anchored in a fixed position relative to the second ends of the remaining legs, leg actuating means, actuableto extend and retract each leg independently, and a surge frame si idably mounted on a straight track on the main frame and actuated to move on the track by means of frame actuating means,
2. Apparatus as claimed in claim 1, wherein the frame actuating means area hydraulic piston and cylinder device the cylinderthereof being secured to the mainframe atone end and a piston rod connected with the piston being secured to the surge frame frame atthe other, such thatthe axis of the device is substantial iy parallel to that of the track.
3. Apparatus as claimed in claim 1 or 2, wherein six extensible and retractable legs are secured to the underside of the mainframe in a genrallytriangular formation such that each vertex of the triangularformation is generally defined by the one ends of a pair of legs.
4. Apparatus as claimed in claim 3, wherein a pair of adjacent legs from adjacent vertices of the triangularformation converge to be secured to a common foot.
5. Apparatus as claimed in any of the preceding claims, wherein a seating arrangement and appar- atus control means are fixedly mounted on the surge frame.
6. Apparatus substantially as described herein with reference to the accompanying drawings.
Printed for Her Majesty'sStationery Office by Croydon Printing Company (UK) Ltd, 1187, D8817356. Published byThe Patent Office, 25 Southampton Buildings, LondonWC2A lAY, from which copies may be obtained.
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GB8521298A 1985-08-27 1985-08-27 Motion simulator Expired GB2179605B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
GB8521298A GB2179605B (en) 1985-08-27 1985-08-27 Motion simulator

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB8521298A GB2179605B (en) 1985-08-27 1985-08-27 Motion simulator
US06896784 US4753596A (en) 1985-08-27 1986-08-15 Motion simulator

Publications (3)

Publication Number Publication Date
GB8521298D0 GB8521298D0 (en) 1985-10-02
GB2179605A true true GB2179605A (en) 1987-03-11
GB2179605B GB2179605B (en) 1988-11-16

Family

ID=10584323

Family Applications (1)

Application Number Title Priority Date Filing Date
GB8521298A Expired GB2179605B (en) 1985-08-27 1985-08-27 Motion simulator

Country Status (2)

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US (1) US4753596A (en)
GB (1) GB2179605B (en)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2639746A1 (en) * 1988-11-30 1990-06-01 Thomson Csf Motion simulator for training in the driving of vehicle
US4988244A (en) * 1989-09-01 1991-01-29 Kearney & Trecker Six-axis machine tool
US5028180A (en) * 1989-09-01 1991-07-02 Sheldon Paul C Six-axis machine tool
US5388935A (en) * 1993-08-03 1995-02-14 Giddings & Lewis, Inc. Six axis machine tool
US5538373A (en) * 1992-02-20 1996-07-23 Giddings & Lewis, Inc. Machine tool vibration isolation system
WO1996028230A1 (en) * 1995-03-15 1996-09-19 Ridefilm Corporation A compliant orthogonal motion base
US5940180A (en) * 1994-10-11 1999-08-17 Giddings & Lewis Laser interferometer measurement system for use with machine tools
FR2780670A1 (en) * 1998-07-01 2000-01-07 Cfcimsi Fondazione work module robotized parallel kinematics
US6203254B1 (en) * 1998-10-19 2001-03-20 Okuma Corporation Parallel mechanism machining device

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US4854876A (en) * 1987-10-13 1989-08-08 Heath William W Aircraft carrier simulator and method
GB8807221D0 (en) * 1988-03-25 1988-04-27 Super X Ltd Motion simulator mechanism
US4887967A (en) * 1989-03-16 1989-12-19 Bernard Fried Racing Enterprises, Inc. High performance motorcycle simulator
US5006072A (en) * 1989-03-16 1991-04-09 Bernie Fried Racing Enterprises, Inc. High performance motorcycle simulator and helmut display
GB9114124D0 (en) * 1991-06-29 1991-08-14 Rediffusion Simulation Ltd Actuator assembly
WO1996021497A1 (en) * 1993-02-05 1996-07-18 Ridefilm Corporation A simulator system having an orthogonal motion base
US5433670A (en) * 1993-02-05 1995-07-18 Ridefilm Corporation Compact simulator system theater
US5527184A (en) * 1993-02-05 1996-06-18 Ridefilm Theaters Corporation Simulator system having an orthogonal motion base
GB2279316B (en) * 1993-06-08 1997-03-26 Compacific Engineering Pte Lim Multi-tier jack motion system
US5583844A (en) * 1993-06-19 1996-12-10 The Walt Disney Company Programming device and method for controlling ride vehicles in an amusement attraction
US5403238A (en) * 1993-08-19 1995-04-04 The Walt Disney Company Amusement park attraction
US5473990A (en) * 1993-08-19 1995-12-12 The Walt Disney Company Ride vehicle control system
JP4294089B2 (en) * 1993-08-19 2009-07-08 ザ ウォルト ディズニー カンパニー Dynamic vehicle
US5509631A (en) * 1993-10-01 1996-04-23 Ridefilm Corporation Three axis motion platform
US5980256A (en) * 1993-10-29 1999-11-09 Carmein; David E. E. Virtual reality system with enhanced sensory apparatus
US5490784A (en) * 1993-10-29 1996-02-13 Carmein; David E. E. Virtual reality system with enhanced sensory apparatus
US5584697A (en) * 1994-07-05 1996-12-17 Ridefilm Corporation Simulator system having a suspended passenger platform
US5829982A (en) * 1994-08-01 1998-11-03 Technische Universiteit Delft Method of manufacturing a motion simulator, and a motion simulator
US5678889A (en) * 1996-04-09 1997-10-21 Purcell, Jr.; Joseph William Moveable theater seats
US5975907A (en) * 1998-04-06 1999-11-02 Technische Universiteit Delft Motion simulator with movable base plate
US6027342A (en) * 1998-09-23 2000-02-22 Stricor, Inc. Motion platform assembly for flight and vehicle simulation
ES2166250B1 (en) * 1999-03-11 2003-06-16 Estatal De Estiba Y Desestiba Simulator crane loading and unloading.
KR100354343B1 (en) 1999-06-11 2002-09-28 김의석 Motion simulator
US7021937B2 (en) * 2000-04-14 2006-04-04 Viretek Race car simulator
GB0016059D0 (en) * 2000-06-30 2000-08-23 Denne Phillip R M Improvements in motion simulators
US6533670B1 (en) * 2000-08-14 2003-03-18 Universal City Studio, Inc. Amusement ride with pivotable motion base
DE10150382B4 (en) * 2001-10-11 2006-03-23 Daimlerchrysler Ag Driving simulator
CA2466981C (en) * 2003-05-13 2013-10-15 D-Box Technology Inc. Motion simulator and method
US7806697B2 (en) * 2005-08-15 2010-10-05 Cae Inc. Method and apparatus for damping vibrations in a motion simulation platform
WO2008020459A3 (en) * 2006-08-18 2008-04-03 Zen Technologies Ltd A motion platform system
US8141452B2 (en) * 2006-10-26 2012-03-27 Barry Lynn Wood Rotational motion-positioning apparatus
US8151660B2 (en) * 2007-02-23 2012-04-10 RPY Motion, Inc. Three axes rotational motion-positioning apparatus
GB0709479D0 (en) * 2007-05-16 2007-06-27 Bennett David G Motion simulator
US20090246741A1 (en) * 2008-01-09 2009-10-01 Mark Soodeen Modular flight control structure
ES2363549B1 (en) * 2011-03-08 2012-03-23 Instituto Tecnológico Del Embalaje, Transporte Y Log�?Stica M? Simulative motion machine during transportation
US9004921B2 (en) * 2011-05-26 2015-04-14 Industrial Smoke & Mirrors, Inc. Motion and vibration cuing system
NL2009805C (en) * 2012-11-14 2014-05-15 E2M Technologies B V A 6 degree-of-freedom motion simulator assembly.
GB201300552D0 (en) 2013-01-14 2013-02-27 Moog Bv Motion simulator
EP3249632A1 (en) 2016-05-26 2017-11-29 E2M Technologies B.V. A movement platform system

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Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2639746A1 (en) * 1988-11-30 1990-06-01 Thomson Csf Motion simulator for training in the driving of vehicle
EP0373029A1 (en) * 1988-11-30 1990-06-13 Thomson-Csf Motion simulator for training vehicle drivers
US4988244A (en) * 1989-09-01 1991-01-29 Kearney & Trecker Six-axis machine tool
US5028180A (en) * 1989-09-01 1991-07-02 Sheldon Paul C Six-axis machine tool
US5354158A (en) * 1989-09-01 1994-10-11 Kearney & Trecker Corporation Six axis machine tool
US5489168A (en) * 1989-09-01 1996-02-06 Giddings & Lewis Metrology instrument arm system
US5466085A (en) * 1989-09-01 1995-11-14 Giddings & Lewis, Inc. Gimbal assembly for six axis machine tool
US5538373A (en) * 1992-02-20 1996-07-23 Giddings & Lewis, Inc. Machine tool vibration isolation system
US5388935A (en) * 1993-08-03 1995-02-14 Giddings & Lewis, Inc. Six axis machine tool
US5940180A (en) * 1994-10-11 1999-08-17 Giddings & Lewis Laser interferometer measurement system for use with machine tools
WO1996028230A1 (en) * 1995-03-15 1996-09-19 Ridefilm Corporation A compliant orthogonal motion base
FR2780670A1 (en) * 1998-07-01 2000-01-07 Cfcimsi Fondazione work module robotized parallel kinematics
US6203254B1 (en) * 1998-10-19 2001-03-20 Okuma Corporation Parallel mechanism machining device

Also Published As

Publication number Publication date Type
GB8521298D0 (en) 1985-10-02 grant
US4753596A (en) 1988-06-28 grant
GB2179605B (en) 1988-11-16 grant

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Legal Events

Date Code Title Description
732E Amendments to the register in respect of changes of name or changes affecting rights (sect. 32/1977)
PCNP Patent ceased through non-payment of renewal fee

Effective date: 19960827