KR101176414B1 - 4 degrees of freedom actuation system and simulator motion platform utilizing the actuation system - Google Patents

Abstract

PURPOSE: A driving device with four degrees of freedom and a simulator moving apparatus with four degrees of the freedom using the same are provided to prevent an excessive increase of a weight by offering four degrees of the freedom in roll, heave, pitch, and sway directions. CONSTITUTION: A driving device(300) with four degrees of freedom comprises a support frame(100), a movable frame(200), a connection joint(350), and first/second/third/fourth connection units. The support frame is installed in the lower part. The movable frame is installed above the support frame. The first/second/third/fourth connection units are connected between the support frame and the movable frame. The first/second/third/fourth connection units support the movable frame. The connection joint is installed in both ends of the first/second/third/fourth connection units, and connected to the support frame or the movable frame.

Description

4 degree of freedom driving device and 4 degree of freedom simulator exercise device using the same {4 Degrees of Freedom Actuation System and Simulator Motion Platform Utilizing the Actuation System}

The present invention relates to a four-degree of freedom drive device and a four-degree of freedom simulator exercise device using the same. The first to fourth connection means which are actuators connected between the support frame and the movable frame spaced apart from each other in more detail are arranged in detail. In the four degree of freedom drive device comprising, the first connecting means and the second connecting means is arranged to form a "∧" shape, the third connecting means and the fourth connecting means is arranged to form a "∨" shape By having a four-degree of freedom driving device having the same structure as the simple arrangement structure, a four-degree of freedom movement limiting device is provided, or is installed at both ends of the first to fourth connecting means without a separate exercise limiting device. A connecting joint installed on one side of the first connecting means and the second connecting means among the connecting joints connected to the movable frame or the support frame, or the third connecting means and the fourth connecting means. If the connecting joint installed on one side is a 1-axis joint and the remaining connecting joint consists of a 2-axis joint, one movable frame is used in the roll, heave, pitch, and sway directions. The present invention relates to a four degree of freedom drive device capable of implementing degrees of freedom and low production cost and to prevent excessive weight increase, and a four degree of freedom simulator exercise device using the same.

In general, a haptic simulator (simulator) is a device that moves the occupant in a limited space to feel a sense of movement similar to the sense of motion when the passenger rides a car or airplane.

Such simulators have recently been used in various fields such as games, various tests and driving training, and even pilot aircraft for military purposes.

As shown in Figure 1, the most commonly used haptic simulator (simulator) is capable of six degrees of freedom and there is an aircraft pilot training device called the STEWART PLATFORM.

However, the six degree of freedom exercise board, such as the STEWART PLATFORM, consists of six power units that are required for three degree of freedom and four degree of freedom movements. have.

Therefore, exercise equipment with less than six degrees of freedom may be used to reduce manufacturing costs. Such an exercise device having less than six degrees of freedom requires a motion limiting device that allows movement of the desired degrees of freedom while limiting the movement of unwanted degrees of freedom, and at the same time requires a driving device that can drive the movement of desired degrees of freedom. do. For example, a four-degree-of-freedom simulator exerciser capable of pitch, roll, heave, and sway movements allows surges and yaws while allowing these four movements. There is a need for motion limiting devices that make motion impossible, and at the same time a drive that can drive pitch, roll, heave, and sway motion.

In general, the four degree of freedom simulator exercise device has a disadvantage in that it is complicated and difficult in realizing the motion limiting device and the driving device, and the three degree of freedom and two degree of freedom exercise devices are more used.

However, the four degree of freedom simulator exercise device has a disadvantage in that it is complicated and difficult to realize the exercise limiting device.

Conventionally, exercise system apparatus having a parallel mechanism structure employing a plurality of horizontal actuators and a plurality of rigid body links as an exercise system apparatus capable of three degrees of freedom motion is disclosed in Korean Utility Model Registration No. 287242 (registered on Aug. 14, 2002). There is a bar.

However, the prior art as described above is simpler to implement than 4 degrees of freedom, but only 3 degrees of freedom movement is implemented, there was a limit to express the dynamic movement.

However, the existing four degree of freedom exercise device is a linear bearing such that a linear reciprocating motion is performed on a drive plate of a three degree of freedom exercise device capable of pitch, roll, and heave. This method has two disadvantages, which requires two drive plates, which leads to increased capacity, increased production cost, and increased weight.

Domestic Registration Room No. 0287242

The present invention has been made to solve the above problems, an object of the present invention is the four freedom including the first to fourth connecting means which is an actuator connected between the support frame and the movable frame spaced apart up and down In the drive device, the first connecting means and the second connecting means are arranged to form a "∧" shape, the third connecting means and the fourth connecting means are arranged to form a "∨" shape, a simple arrangement At the same time as having a four-degree of freedom drive device having the same structure as the structure, and equipped with a suitable four-degree of freedom motion limiting device, or installed on both ends of the first to fourth connecting means without a separate motion limiting device to the movable frame or support A connecting joint installed on one side of the first connecting means and the second connecting means among the connecting joints connected to the frame, or a connection installed on one side of the third connecting means and the fourth connecting means. If the joint is a one-axis joint and the remaining joint is a two-axis joint, four movable degrees of freedom in the direction of roll, heave, pitch, and sway can be achieved with one movable frame. The present invention relates to a four-degree of freedom drive device and a four-degree of freedom simulator exercise device using the same, which can reduce production costs and prevent excessive weight increase.

Four degree of freedom drive device of the present invention support frame 100 provided on the lower side; A movable frame 200 spaced apart from the upper side of the support frame 100; First to fourth connecting means 310 connected between the support frame 100 and the movable frame 200 to support the movable frame 200, the length between each of the support frame connection point and the movable frame connection point is variable. , 320, 330, 340; The first connecting means 310 and the second connecting means 320, and the third connecting means 330 and the fourth connecting means 340 are arranged in pairs, the first connecting means 310 and the second connecting means 320 is installed in the "long" distance between the one end fixed to the support frame 100 is longer than the distance between the other end fixed to the movable frame 200 "∧" shape The third connecting means 330 and the fourth connecting means 340 have a distance between one end fixed to the support frame 100 than a distance between the other end fixed to the movable frame 200. Short installations form a "∨" shape.

In addition, the first to fourth connection means (310, 320, 330, 340) according to an embodiment of the present invention is any one of a hydraulic cylinder, pneumatic cylinder, jack type actuator, link type actuator or electric linear actuator, Two or more may be used in combination.

In addition, the first to fourth connecting means (310, 320, 330, 340) according to an embodiment of the present invention is a reduction gear 510 is installed on the support frame 100; A motor 520 connected to the reduction gear 510; A primary link 530 connected at right angles to the output shaft of the reduction gear 510; And a secondary link 540 connected to the primary link 530 by a first joint 550 and connected to the movable frame 200 and the second joint 560. It may be a reducer connection link method including a.

In addition, the four degree of freedom driving device according to an embodiment of the present invention is installed on both ends of the first to fourth connecting means (310, 320, 330, 340) the movable frame 200 or the support frame 100 Two connection joints connected to one end of the first and second connection means 310 and 320 or one end of the third and fourth connection means 330 and 340. 350 may be a one-axis joint, and the remaining connection joint 350 may be a two-axis joint.

The four degree of freedom drive device and the four degree of freedom simulator exercise device using the same are four degree of freedom drive including first to fourth connection means which are actuators connected between a support frame and a movable frame spaced apart from each other. In the apparatus, the first connecting means and the second connecting means is arranged to form a "∧" shape, the third connecting means and the fourth connecting means is arranged to form a "∨" shape, thereby providing a simple arrangement structure and At the same time having a four degree of freedom drive device of the same structure, equipped with a suitable four degree of freedom motion limiting device, or installed on both ends of the first to fourth connecting means without a separate motion limiting device and the movable frame or the support frame and Among the connection joints connected, a connection joint provided on one side of the first and second connection means, or a connection joint provided on one side of the third and fourth connection means It is a 1-axis joint and when the remaining connection joint consists of a 2-axis joint, it can produce four degrees of freedom in the direction of roll, heave, pitch, and sway with one movable frame. It is inexpensive and can prevent excessive weight gain.

In addition, the four degree of freedom drive device of the present invention and the four degree of freedom simulator exercise device using the same, the movement of the sway direction as well as roll, heave, pitch direction It is possible to realize more dynamic and realistic movements.

In addition, the four degree of freedom simulator exercise apparatus of the present invention has the advantage that the structure is simple and the manufacturing cost is low by using four actuators of the same structure.

1 is a perspective view of a conventional configuration.
2 to 4 is a front view, a plan view, a side view showing a four degree of freedom simulator exercise apparatus using a four degree of freedom drive device according to the present invention.
5 is a perspective view of a motion limiting apparatus included in an embodiment of a four degree of freedom simulator exercise apparatus according to the present invention.
6 to 8 is a perspective view, a front view, a rear view of the four degree of freedom driving device included in the four degree of freedom simulator exercise apparatus of the present invention.
Figure 9 is one embodiment of the actuator included in the four degree of freedom drive device of the present invention.
10 to 13 is a perspective view showing various embodiments of the exercise limiter included in one embodiment of the four degree of freedom simulator exercise apparatus according to the present invention.
14 is another embodiment of a four degree of freedom driving device according to the present invention.

Hereinafter, the four degree of freedom driving device of the present invention and the four degree of freedom simulator exercise device using the same will be described in detail with reference to the accompanying drawings.

2 to 4 is a front view, a plan view, a side view showing a four degree of freedom simulator exercise apparatus using a four degree of freedom driving device according to the present invention, Figure 5 is a four degree of freedom simulator exercise apparatus according to the present invention 6 to 8 are perspective views, a front view and a rear view of a four degree of freedom driving device included in the four degree of freedom simulator exercise apparatus of the present invention, and FIG. 9 is a four degree of freedom of the present invention. 10 to 13 is a perspective view showing various embodiments of the exercise limiting apparatus included in one embodiment of the four degree of freedom simulator exercise apparatus according to the present invention, Figure 14 is a Another embodiment of the four degree of freedom drive device according to the invention.

Four degree of freedom drive device 300 of the present invention is connected between the support frame 100 and the movable frame 200 to support the movable frame 200, the first to fourth connection means that the length is selectively variable It is formed to include (310, 320, 330, 340).

The support frame 100 is provided on the lower side, and the movable frame 200 is installed to be spaced apart from the upper side of the support frame 100, the seat is installed on the upper side in the general simulator exercise apparatus space for seating the passengers Form.

That is, the movable frame 200 can be moved in various directions by the remaining configuration.

The first to fourth connection means 310, 320, 330, and 340 are connected to and installed at four points of the support frame 100 and the movable frame 200.

In this case, the first connecting means 310 and the second connecting means 320, the third connecting means 330 and the fourth connecting means 340 are arranged in pairs, the first connecting means ( 310 and the second connecting means 320 is installed to be longer than the distance between one end fixed to the support frame 100 than the other end fixed to the movable frame 200 has a "∧" shape The third connecting means 330 and the fourth connecting means 340 are shorter than a distance between one end fixed to the support frame 100 than the other end fixed to the movable frame 200. Installed to form a "∨" shape.

In addition, the four degree of freedom drive device 300 of the present invention, both ends of the first to fourth connecting means 310, 320, 330, 340 connected to the support frame 100 or the movable frame 200 Connected by the connection joint 350, the connection joint 350 may be a joint having a two-axis or three-axis degree of freedom that does not restrict the movable frame 200 to move four degrees of freedom.

The first to fourth connecting means (310, 320, 330, 340) may be any one of a hydraulic cylinder, pneumatic cylinder, jack type, link type or electric linear actuator, in addition to the support frame 100 and movable Any type of actuator that can vary the distance between the frames 200 can be used.

In general, hydraulic cylinders, pneumatic cylinders and electric linear actuators allow torsion between the piston and the cylinder, in which case the connection joints are installed at both ends of the first to fourth connecting means (310, 320, 330, 340). 350 may be a biaxial joint or gimbal joint, such as a universal joint.

When the actuator does not allow the torsion, the four degree of freedom drive device 300 of the present invention is any one of the connection joint 350 is installed on both ends of the first to fourth connection means (310, 320, 330, 340) One should use a bearing system that allows torsion, such as ball socket joints.

As shown in Figure 9, the first to fourth connecting means (310, 320, 330, 340) is a reduction gear 510 is installed on the support frame 100 in the case of the reduction gear link link method; A motor 520 connected to the reduction gear 510; A primary link 530 connected to the output shaft of the reduction gear 510; And a secondary link 540 connected to the primary link 530 by a first joint and connected to the movable frame 200 and the second joint 560. It may be formed to include.

At this time, it is preferable that the first joint and the second joint 560 are joints having three degrees of freedom.

On the other hand, the four degree of freedom simulator exercise apparatus using the four degree of freedom drive device of the present invention can be implemented including a motion limiting device (400).

The exercise limiting device 400 is connected between the support frame 100 and the movable frame 200, and installed in a predetermined region of the support frame 100 or the movable frame 200, Yaw, and Limit the movement in the surge direction.

As shown in Figures 2 to 4, the four degree of freedom simulator exercise device 1 of the present invention is the first connecting means 310 and the second connecting means 320, the third connecting means 330 and The fourth connecting means 340 is arranged in pairs, and is spaced apart from the motion limiting device 400 by a predetermined distance in the x-axis direction.

Accordingly, the four degree of freedom simulator exercise device 1 of the present invention has the advantage that the exercise can be implemented using four identical actuators.

The exercise limiting device 400 includes a support frame 100 provided on the lower side; A movable frame 200 spaced apart from the upper side of the support frame 100; It is connected between the support frame 100 and the movable frame 200 in a form inclined in the left and right directions, one end is installed on the upper side of the support frame 100 by a base pivot 460, the x-axis A first pivot link 410 and a second pivot link 420 rotatable about a rotation axis in a direction; Sliding means 430 connected to the other ends of the first pivot link 410 and the second pivot link 420 by a sliding means pivot 470; And the sliding means 430 is slidably moved in the y-axis, and sliding guides fixed to fixing means 450 installed at both end portions of the upper side of the support frame 100 or the lower side of the movable frame 200. Part 440; It may be formed to include.

As shown in FIGS. 5 and 10 to 13, the first pivot link 410 and the second pivot link 420 are formed in a “∧” shape or “∨” shape with respect to the sliding guide 440. Can be formed.

In this case, the motion limiting device 400 is a bushing including a bushing shaft insertion hole 431 through which the sliding means 430 penetrates in the Y-axis direction, and the sliding guide 440 is a rod or bar. It may be in the form of a bar, the bushing shaft inserted into the bushing shaft insertion hole 431.

In the following description, the sliding means is a bushing, the sliding means pivot is a bushing pivot, and the sliding guide is a bushing shaft. The sliding means and the bushing, the sliding means pivot and the bushing pivot, the sliding guide and The bushing shaft will use the same reference number.)

Referring to one embodiment of the motion limiting device 400 shown in Figure 5, the motion limiting device 400 of the present invention is left and right symmetrical to the upper side of the support frame 100 by a base pivot 460 A first pivot link 410 and a second pivot link 420 installed in a “∨” shape and rotatable about an axis of rotation in the x-axis direction; Bushing 430 which is connected to the end of the first pivot link 410 and the second pivot link 420 by a bushing pivot 470, and including a bushing shaft insertion hole 431 through the inside in the y-axis direction ); And in the form of a rod or bar (bar), the bushing shaft insertion hole 431 is inserted into the bushing 430 to move in the y-axis, both ends are installed on the lower side of the movable frame 200 A bushing shaft 440 fixed to the fixing means 450; It may be formed to include.

At this time, the four degree of freedom simulator exercise device 1 using the exercise limiting device 400 shown in Figure 5 is the first to fourth connecting means (310, 320, Due to the 330 and 340, the movable frame 200 is driven by the connecting means having the same structure, and at the same time, the first pivot link 410 can limit movement in the yaw and surge directions. And it is preferable that the second pivot link 420 is a "∨" shape symmetrical about the orthogonal axis (x-axis) of the bushing shaft 440.

The first pivot link 410 and the second pivot link 420 may be rotated in a clockwise and counterclockwise direction about the base pivot 460, and the bushing 430 through the bushing pivot 470. In connection with the bushing pivot 470 can be rotated in a clockwise and counterclockwise direction.

The mounting position of the base pivot 460 is the first pivot link 410 and the second pivot when the bushing 430 moves along the bushing shaft 440 within the range of motion of the movable frame 200. It is preferable that the link 420 is mounted at a proper position very close to the center of the support frame 100 or far from the center so that the link 420 is not vertical.

The motion limiting device 400 has a structure in which the bushing 430 is not rotatable about the bushing shaft 440, by installing a bearing at a connection portion between the bushing shaft 440 and the fixing means 450. The bushing shaft 440 may be rotated relative to the fixing means 450.

In another embodiment, the exercise limiting device 400 is to install the first pivot link 410 and the second pivot link 420 as shown in Figure 10 on the upper side of the support frame 100 The base pivot 460 may be installed to be installed in an inclined form of “∧” shape. As illustrated in FIGS. 11 and 12, the bushing shaft 440 is installed on the support frame 100 and the base pivot is installed. 460 may be installed on the movable frame 200 so that the arrangement of the first pivot link 410 and the second pivot link 420 may be installed in an inclined form such as "∧" or "∨".

On the other hand, as shown in Figure 13, the motion limiting device 400, the sliding means 430 is an LM guide, the sliding guide 440 is such that the sliding means 430 is moved in the y-axis direction It may also be a guided LM guide rail.

In other words, the motion limiting device 400 includes the sliding guide 440 and the sliding means 430 for the linear movement of the x-axis of the first pivot link 410 and the second pivot link 420. The sliding guide 440 is a rail capable of sliding linear motion in the form of an LM guide, the sliding means 430 may be replaced by an LM guide, the first pivot link 410 to the sliding means 430 And a gimbal joint (not shown) capable of rotating in the x-axis and y-axis directions with the second pivot link 420 to perform the same movement.

The sliding means 430 may be modified in various forms as long as the sliding means moves in one axis in addition to the bushing and the LM guide as described above.

In another embodiment, the four degree of freedom driving device of the present invention is installed at both ends of the first to fourth connection means (310, 320, 330, 340) and the movable frame 200 or the support frame 100 and Two connection joints 350 connected to one end of the first and second connection means 310 and 320 or one end of the third and fourth connection means 330 and 340. Is a uniaxial joint capable of unidirectional rotation only, and the remaining connection joint 350 may be a biaxial joint such as a universal joint.

In this case, the four degree of freedom driving device of the present invention can be a four degree of freedom simulator exercise device capable of limiting the movement in the yaw, surge direction, even if there is no separate motion limiting device itself.

Referring to FIG. 14, the four degree of freedom driving device of the present invention includes two connection joints 350 connected to one end of the third and fourth connection means 310 and 320, that is, the support frame 100. ) Is a one-axis joint, and the remaining six connection joint 350 is composed of a two-axis joint, it can be a four degree of freedom simulator exercise device that can implement a four degree of freedom exercise without a separate motion limiting device.

4 to 6, the four degree of freedom simulator exercise apparatus 1 according to the present invention will be described to operate in a roll, a heave, a pitch, and a sway direction.

First, the four degree of freedom simulator exercise apparatus 1 of the present invention for moving in the direction of the heave (Heave) is the upper end of the first pivot link 410 and the second pivot link 420 is the bushing shaft 440 While moving to the center along the first pivot link 410, the second pivot link 420 moves in a standing position from the lying down position.

In this case, the four degree of freedom simulator exercise apparatus 1 of the present invention is gradually narrowed the upper end distance of the first pivot link 410 and the second pivot link 420, the first pivot link 410 And the movable frame 200 moves in the vertical direction as the end of the second pivot link 420 increases as the end of the second pivot link 420 rotates.

At this time, the first to fourth connecting means (310, 320, 330, 340) should be the same length.

In the four degree of freedom simulator exercise device 1 of the present invention for moving in a roll direction, upper ends of the first pivot link 410 and the second pivot link 420 have a right side of the bushing shaft 440. In the same direction.

At this time, the four degree of freedom simulator exercise device 1 of the present invention is the length of the second connecting means 320 and the fourth connecting means 340 is long, on the contrary the first connecting means 310 and the first As the length of the three connecting means 330 is shortened, the movement in the roll direction can be realized.

In the four degree of freedom simulator exercise apparatus 1 of the present invention, when the upper ends of the first pivot link 410 and the second pivot link 420 are moved in the same direction toward the left side of the bushing shaft 440, The second connecting means 320 and the fourth connecting means 340 are shorter together, and conversely, the length of the first connecting means 310 and the third connecting means 330 is longer, so that the roll Movement in the direction can be implemented.

The four degree of freedom simulator exercise device 1 of the present invention for moving in the pitch direction is the first pivot link 410 and the second pivot link 420 is in a stopped state, the first and second When the connecting means 310 and 320 are shortened, the third and fourth connecting means 330 and 340 are lengthened. On the contrary, when the first and second connecting means 310 and 320 are lengthened, the third and fourth connecting means 310 and 320 are lengthened. The fourth connecting means (330, 340) is shortened. At this time, the movable frame rotates about the bushing shaft 440.

Finally, the four degree of freedom simulator exercise apparatus 1 of the present invention for exercising in the sway direction is the first pivot link 410 and the second pivot link 420 is stationary, the first And when the fourth and third connecting means 310 and 340 are shortened, the second and third connecting means 320 and 330 become long, and conversely, when the first and fourth connecting means 310 and 340 are lengthened. The second and third connecting means 320 and 330 are shortened.

In the same manner as described above, the four degree of freedom simulator exercise apparatus 1 of the present invention includes a first pivot link for implementing movement in a roll, a heave, a pitch, and a sway direction. 410, the second pivot link 420, the movement of the first to fourth connecting means (310, 320, 330, 340) by appropriately mixing, roll, heave, pitch (Pitch), The movement in the sway direction may be simultaneously implemented in a complex manner.

In addition, the first connecting means and the second connecting means is arranged to form a "∧" shape, the third connecting means and the fourth connecting means are arranged to form a "∨" shape, the same structure as the simple arrangement structure At the same time, it is possible to realize four degrees of freedom in the direction of roll, heave, pitch, and sway with one movable frame 200, resulting in low production cost and excessive weight increase. There is an advantage that can be prevented.

In addition, the driving device of the present invention and the four-degree of freedom simulator exercise device using the same are capable of moving in the sway direction as well as in the roll, heave, and pitch directions. It has the advantage of implementing movement.

In addition, the driving apparatus of the present invention and the four degree of freedom simulator exercise apparatus using the same have the advantage that the structure is simple and the manufacturing cost is low by using four actuators having the same structure.

However, if necessary due to the limitation of the actuator mounting position, the "symbol" shape formed by the first and second connecting means and the "symbol" shape of the third and fourth connecting means are precisely symmetrical. There is no need to achieve this.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. It goes without saying that various modifications can be made.

1: 4 degree of freedom simulator exercise device
100: support frame
200: movable frame
300: 4 degree of freedom driving device
310, 320, 330, 340: first to fourth connecting means
350: connection joint
400: exercise limiting device
410, 420: first pivot link, second pivot link
430: sliding means, bushing 431: bushing shaft insertion hole
440: sliding guide, bushing shaft 450: fixing means
460: base pivot 470: sliding means pivot, bushing pivot
480: gimbal joint
510: reduction gear 520: motor
530, 540: primary link, secondary link
550, 560: Joint 1, Joint 2

Claims (5)

Support frame 100 provided on the lower side;
A movable frame 200 spaced apart from the upper side of the support frame 100;
First to fourth connecting means 310 connected between the support frame 100 and the movable frame 200 to support the movable frame 200, the length between each of the support frame connection point and the movable frame connection point is variable. , 320, 330, 340; And
Connection joints (350) installed at both ends of the first to fourth connection means (310, 320, 330, 340) and connected to the movable frame (200) or the support frame (100); Including;
The first connecting means 310 and the second connecting means 320 and the third connecting means 330 and the fourth connecting means 340 are arranged in pairs, spaced apart at a predetermined distance in the x-axis direction ,
The first connecting means 310 and the second connecting means 320 is installed so that the distance between one end fixed to the support frame 100 is longer than the distance between the other end fixed to the movable frame 200 Form the "∧" shape,
The third connecting means 330 and the fourth connecting means 340 has a distance between one end fixed to the support frame 100 is shorter than the distance between the other end fixed to the movable frame 200 Form the "∨" character,
Equipped with a four degree of freedom exercise limiting device,
Two connection joints 350 connected to one end of the first and second connection means 310 and 320 or one end of the third and fourth connection means 330 and 340 are uniaxial joints, and the other connection is performed. If the joint 350 is a biaxial joint,
A four degree of freedom drive device, characterized in that the four degrees of freedom in the direction of Roll, Heave, Pitch, Sway with one movable frame.
The method of claim 1,
The first to fourth connecting means (310, 320, 330, 340) are
The four degree of freedom drive device, characterized in that any one of the hydraulic cylinder, pneumatic cylinder, jack type actuator, link type actuator or electric linear actuator, or two or more are mixed.
The method of claim 1,
The first to fourth connecting means (310, 320, 330, 340) are
A reduction gear 510 installed on the support frame 100;
A motor 520 connected to the reduction gear 510;
A primary link 530 connected at right angles to the output shaft of the reduction gear 510; And
A secondary link 540 connected to the primary link 530 by a first joint 550 and connected to the movable frame 200 and the second joint 560; 4 degrees of freedom drive device characterized in that the reducer connection link method comprising a.
delete A four degree of freedom simulator exercise apparatus using the four degree of freedom driving device according to any one of claims 1 to 3 .

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