KR20210001388A - Multiaxial experience data simultation device operating based on experience data and method thereof - Google Patents

Abstract

A multiaxial robot simulator is disclosed. The multiaxial robot simulator comprises: a base; each of first active joints independently moved from the base in a first direction; each of second active joints connected to each of the first active joints, respectively, and independently moved in a second direction which is perpendicular to the first direction; and a truss structure connected to the second active joints and moved in dependence on each movement of the first active joints and the second active joints.

Description

A multi-axis experience data simulation device that operates according to experience data and its operation method {MULTIAXIAL EXPERIENCE DATA SIMULTATION DEVICE OPERATING BASED ON EXPERIENCE DATA AND METHOD THEREOF}

An embodiment according to the concept of the present invention relates to a robotic system, in particular, the self-load of a work object that can be connected to an end device (end effector) to each of the active joints. A parallel robotic system having a self-weight substantially equal to the self-weight of the work object connected to the end effector by dispersing, a computer program for operating the parallel robotic system, and a content service providing method including the parallel robotic system About.

The parallel mechanism represented by the Stewart-Gough platform is of interest not only in academia, research institutes, but also in industry because of the advantages of high stiffness and high speed when compared to the existing serial mechanism. It is increasing and is being studied in various fields such as the field of high-speed assembly robots, the field of multi-axis computer numerical control (CNC) machining, and the field of virtual reality such as flight simulators.

Research related to the parallel mechanism, instead of enhancing the merits of the parallel mechanism, is the problem of kinematic analysis (forward kinematics and backward kinematics) inherent in the parallel mechanism, and the singular configuration that must be avoided to move the end effector of the robot ) Many research results on mathematical and interpretive methodologies have been suggested in various fields such as analysis and interpretation.

A parallel robot using a conventional parallel mechanism is a structure that directly connects the link of a serial robot to an end effector by applying kinematic constraints to each other, and has a structure that increases structural rigidity and accuracy through this.

However, depending on the posture of the end effector of the robot, stress concentration occurs in the joint of the parallel robot in many cases, and to overcome this, a reinforcement material is used in the joint part when the actual parallel robot is manufactured. This not only increases the price of the parallel robot, but also increases the size of the parallel robot.

Registered Patent Publication: Registration No. 10-1579550 (registered on December 16, 2015)

The technical problem to be achieved by the present invention is by distributing the self-weight of a work object that can be connected to an end effector into each of the active joints (e.g., first active joints and second active joints) coupled to each other. A parallel robotic system having a self-weight substantially equal to the self-weight of the work object that can be connected to the end effector, a computer program for operating the parallel robotic system, and a content service providing method including the parallel robotic system Is to do.

To this end, each of the first active joints is disposed on a base and moves independently of each other in a first direction, and the second active joints each coupled to a corresponding active joint among the first active joints are the first active joints. They move independently of each other along a second direction perpendicular to the direction, and the truss structure is connected or coupled to the second active joints.

In the multi-axis robot simulator according to an embodiment of the present invention, a base, each of first active joints moving independently of each other along a first direction in the base, is connected to each of the first active joints, and each Second active joints moving independently of each other along a second direction perpendicular to the first direction, and connected to the second active joints, and movement of each of the first active joints and the second active joints It includes a truss structure that moves depending on each movement.

According to the embodiments of the present invention, the computer program stored in the data storage device to control the multi-axis robot simulator combined with hardware moves each of the first active joints independently of each other along the first direction in the base of the multi-axis robot simulator. Controlling each of the first active joints so that each of the second active joints connected to each of the first active joints moves independently of each other along a second direction perpendicular to the first direction, A step of controlling each of the second active joints, and each of the connection devices connected between the corresponding two second active joints among the second active joints, the movement of each of the first active joints and the first active joints. Two active joints move dependent on each movement.

According to embodiments of the present invention, a method of providing a simulation data service using a simulation data acquisition apparatus, a server, and a parallel robotic system includes the steps of receiving, by the parallel robotic system, first simulation data from the server, and The parallel robotic system generates first control signals and second control signals based on the first simulation data, and the parallel robotic system uses the first control signals, Controlling each of the first active joints so that each of the first active joints independently move along a first direction at the base of the tick system, and the parallel robotic system uses the second control signals. , Controlling each of the second active joints so that each of the second active joints connected to each of the first active joints moves independently of each other along a second direction perpendicular to the first direction, the Among the second active joints, each of the connecting devices connected between the corresponding two second active joints moves depending on the movement of each of the first active joints and the movement of each of the second active joints.

The parallel robotic system according to an embodiment of the present invention can distribute the self-weight of a work object that can be connected to an end effector into each of the active joints coupled to each other (eg, first active joints and second active joints). There is an effect.

Accordingly, the parallel robotic system has an effect that the ratio of the self-weight of a work object that can be connected to the end effector to the self-weight of the parallel robotic system (ie, the weight of the parallel robotic system itself) is approximately 1.

Detailed description of each drawing is provided in order to more fully understand the drawings cited in the detailed description of the present invention.
Each of FIGS. 1A to 2 is a schematic block diagram of a parallel robotic system according to embodiments of the present invention.
Each of FIGS. 3 and 4 is a schematic block diagram of a parallel robotic system according to embodiments of the present invention.
5 is a block diagram illustrating an operation of a control device that controls components of the parallel robotic system illustrated in FIGS. 1A through 4.
6 is a flowchart illustrating the operation of the computer program shown in FIG. 5.
7 is a schematic diagram of a system for providing a content service using a content acquisition device, a server, and a parallel robotic system.
8 is a flowchart illustrating the operation of the system of the method shown in FIG. 7.

Each of FIGS. 1A to 2 is a schematic block diagram of a parallel robotic system according to embodiments of the present invention. 1A to 2, a parallel robotic system (or multi-axis robot simulator; 100A) or a parallel mechanism 100A includes a base 110, first active joints 120-1 to 120-3, and a second Active joints (130-1 to 130-3), and a truss (truss) structure.

The parallel robotic system (100A, 100B, or 100C; collectively 100) according to an embodiment of the present invention is the self-weight of a device (or work object) that can be connected to an end device (end effector; 160). ) To each of the first active joints 120-1 to 120-3 and each of the second active joints 130-1 to 130-3 using a truss structure, so parallel robotics The system 100 has an effect that the ratio of the weight of the device (or the work object) itself that can be connected to the end effector 160 to the weight of the parallel robotic system 100 itself can be set to almost 1.

According to embodiments, the parallel robotic system 100 may be implemented as a simulator for various simulations such as airplane control, ship control, car driving, or virtual reality.

The base 110 is also called a base plate. Each of the vertical frames 115-1 to 115-3 is connected to each of the first active joints 120-1 to 120-3. Each of the vertical frames 115-1 to 115-3 may be referred to as a ball screw, a ball screw shaft, or a screw axis.

Each of the first active joints 120-1 to 120-3 is connected (or disposed) to the base 110 and moves independently of each other along the first direction D1. The first direction D1 may mean a concentric circle direction or a horizontal direction with respect to the center of the base 110. For example, each of the first active joints 120-1 to 120-3 may move independently of each other along a guide hole or a guide rail formed in the base 110.

Each of the first active joints 120-1 to 120-3 may be an active joint using a gear, but is not limited thereto. The direction in which the active joint 120-1 or 120-2 moves may be the same as or opposite to the direction in which the active joint 120-3 moves.

Each of the second active joints 130-1 to 130-3 is connected to each of the first active joints 120-1 to 120-3 through each of the vertical frames 115-1 to 115-3, As illustrated in FIG. 1B, each of the second active joints 130-1 to 130-3 moves independently from each other along the second direction D2. For example, the first direction D1 and the second direction D2 may be perpendicular to each other.

The direction in which the active joint 130-1 or 130-2 moves may be the same as or opposite to the direction in which the active joint 130-3 moves. Each of the second active joints 130-1 to 130-3 may move upward or downward along each of the vertical frames 115-1 to 115-3.

In the present specification, the active joint includes an actuator (eg, a motor) capable of moving the active joint, and an encoding device (eg, an encoder) that provides information on the position of the active joint at a specific time, and It means a joint that moves actively, and the passive joint is a joint that does not include the actuator and the encoding device, and may mean a joint that passively moves according to the movement of the active joint.

According to embodiments, the active joint may be defined as a device including both the active joint and the vertical frame. According to an embodiment, each of the second active joints 130-1 to 130-3 may be an active joint using a ball screw, but is not limited thereto.

The truss structure is connected to the second active joints 130-1 to 130-3, the movement of each of the first active joints 120-1 to 120-3 and the second active joints 130-1 to 130-3) It moves depending on each movement. That is, the movement of the truss structure is determined according to the movement of each of the first active joints 120-1 to 120-3 and the movement of each of the second active joints 130-1 to 130-3.

The truss structure includes connection devices 140-1 to 140-3, rigid bodies 150-1 to 150-3, and an end effector 160. When the truss structure is a triangle or an equilateral triangle, each of the connecting devices 140-1 to 140-3 corresponds to each side of the triangle or the equilateral triangle.

Each of the connection devices 140-1 to 140-3 is the corresponding two second active joints 130-1, 130-2 and 130-2 among the second active joints 130-1 to 130-3. And 130-3, and 130-3 and 130-1), and each connecting device 140-1 to 140-3 moves the first active joints 120-1 to 120-3, respectively. And the second active joints 130-1 to 130-3 each move dependently. According to embodiments, each of the active joints 120-1 to 120-3 and 130-1 to 130-3 may be a prismatic joint.

Each of the rigid bodies 150-1 to 150-3 is connected to a corresponding connection device among the connection devices 140-1 to 140-3. Each of the rigid bodies 150-1 to 150-3 may be implemented as a cylindrical rod, but the shape of each of the rigid bodies 150-1 to 150-3 is not limited to the cylindrical rod. According to embodiments, each of the connection devices 140-1 to 140-3 may be implemented as a spherical joint.

The end effector 160 is connected to the rigid bodies 150-1 to 150-3. The end effector 160 may be referred to as a moving platform, and is directly applied to each of the first active joints 120-1 to 120-3 and the second active joints 130-1 to 130-3. Does not lead to

Each of the connection devices 140-1 to 140-3 includes a slider block including a passive joint (eg, a spherical joint), a first slider (eg, a passive joint), and a second slider (eg, a passive joint). Include. Since the structure and operation of each of the connection devices 140-1 to 140-3 are the same, the structure and operation of the first connection device 140-1 will be described below.

The first slider block (or fixed link; 142-1) of the first connection device 140-1 is a passive joint 144-1, a first slider (or a first sliding link). ); 146-1), and a second slider (or a second sliding link; 148-1). Each of the sliders 146-1 and 148-1 is moved according to the movement of each of the first active joints 120-1 and 110-2 and/or the second active joints 130-1 and 130-2 (or Rotation by a certain angle).

The passive joint 144-1 is connected to the rigid body 150-1 and may be disposed (or installed) in the center of the first connection device 140-1. According to the movement of the end effector 160 to which the rigid body 150-1 is connected, the rigid body 150-1 may move along the third direction D3 by the passive joint 144-1.

The first slider 146-1 is connected between any one 130-1 of the two second active joints 130-1 and 130-2 and the first slider block 142-1, and FIG. 1B As shown in and FIG. 1C, the first slider block 144-1 may move forward or backward in the first inner space SP1.

The second slider 148-1 is connected between any one 130-2 of the two second active joints 130-1 and 130-2 and the first slider block 142-1, and FIG. 1B As shown in and FIG. 1C, it may move forward or backward in the second inner space SP2 of the first slider block 144-1.

As shown in (a) and (b) of FIG. 1C, lengths (dl1, dl2, dl3, and dl4) of the sliders 146-1 and 148-1 connected to the first slider block 142-1 The first connection device 140-1 is moved by the two first active joints 120-1 and 120-2 and/or the two second active joints 130-1 and 130-2. When, it increases or decreases.

For example, as shown in (a) of FIG. 1C, when the base 110 and the first connection device 140-1 are parallel, the amount of change in the length of each slider 146-1 or 148-1 (dl1 or dl2) ) Is the minimum, and when the active joints 130-1 and 130-2 move to the operating limit point in opposite directions as shown in (b) of FIG. 1C, the slider 146-1 or 148-1 The amount of change in length (dl3 and dl4) is maximum.

As shown in (a) of FIG. 1C or at the first time point, the change amount dl1 of the length of the first slider 146-1 is the same as the change amount dl2 of the length of the second slider 148-1, As shown in (b) of FIG. 1C or at the second time point, the change amount dl3 of the length of the first slider 146-1 is the same as the change amount dl4 of the length of the second slider 148-1.

For example, FIGS. 1A, 1B, and 1C(a) show the operation of the parallel robotic system 100A at the first point of view, and FIGS. 2 and 1C(b) are different from the first point of view. It shows the operation of the parallel robotic system 100A at the second point of view.

Each of FIGS. 3 and 4 is a schematic block diagram of a parallel robotic system according to embodiments of the present invention. Referring to FIGS. 1A through 4, the parallel robotic system 100B further includes components of the parallel robotic system 100A and adjustment devices 170-1 to 170-3. Each of the adjusting devices 170-1 to 170-3 may be implemented as a scotch yoke, but is not limited thereto.

Each of the adjusting devices 170-1 to 170-3 is connected to each slider block 142-1, each first slider 146-1, and each second slider 148-1. In each of the adjustment devices 170-1, 170-2, and 170-3, each slider block 142-1 has second active joints 130-1 and 130-2, 130-2 and 130-3, and 130-3 and 130-1) performs a function of adjusting each of the connecting devices 140-1 to 140-3 so that they are always positioned at the center (or center point) of the 130-3 and 130-1).

5 is a block diagram for explaining the operation of the control device for controlling the components of the parallel robotic system shown in FIGS. 1A to 4, and FIG. 6 is a flowchart illustrating the operation of the computer program shown in FIG. to be.

The parallel robotic system 100C further includes components of the parallel robotic system 100A or 100B described above and a control device 200. According to embodiments, the parallel robotic system 100C may further include an audio execution device 155 and/or a video execution device 265.

In combination with the hardware 200 or 100C, the computer program PROG is stored in the data storage device 220, for example, the memory device 220 to control the parallel robotic system 100C. When the control device 200 is executed or booted, the computer program PROG is loaded from the memory device 220 to the processor 230.

The memory device 220 is a generic term for a nonvolatile memory device and a volatile memory device, and the nonvolatile memory device is a hard disk drive (HDD), a solid state drive (SSD), or a flash device. A memory-based device, and the like, and the volatile memory device includes random access memory (RAM), static RAM (SRAM), or dynamic RAM (DRAM).

Although the memory device 220 is shown outside the processor 230 in FIG. 5, the memory device 220 may mean a memory device implemented inside the processor 230. The memory device 220 refers to a memory device related to the operation of the computer program PROG despite the type and location of the memory device 220.

The control device 200 includes a first interface 210, a memory device 220, a processor 230, and a second interface 240, and according to embodiments, the audio driver 250 and/or the video driver It may further include (260).

The first interface 210 is an interface for communication with a host device, and performs a function of exchanging signals (or data) with the server 330 through the second communication network 360 as shown in FIG. 7. I can.

The memory device 220 may store a computer program PROG and data necessary for the operation of the control device 200.

The processor 230 may execute a computer program PROG and control the operation of the components 210, 220, 240, 250, and 260. First control signals CTR1-1 to CTR1-3 and second control signals CTR2-1 to CTR2-3 generated by the processor 230 or a computer program PROG executed by the processor 230 ) Is transmitted to the first active joints 120-1 to 120-3 and the second active joints 130-1 to 130-3 through the second interface 240. According to each control signal (CTR1-1 to CTR1-3, CTR2-1 to CTR2-3), the active joints 120-1 to 120-3, and 130-1 to 130-3 move independently.

In the control device 200 or the computer program PROG, each of the first active joints 120-1 to 120-3 attached to the base 110 of the parallel robotic system 100C is in a first direction D1 Each of the first active joints 120-1 to 120-3 is controlled to move independently of each other along the line (S110).

In the control device 200 or the computer program PROG, each of the second active joints 130-1 to 130-3 connected to each of the first active joints 120-1 to 120-3 is in a second direction ( Each of the second active joints 130-1 to 130-3 is controlled to move independently of each other along D2) (S120 ).

Two second active joints 130-1 and 130-2, 130-2 and 130-3, and 130-3 and 130-1 corresponding among the second active joints 130-1 to 130-3 Each of the connection devices 140-1 to 140-3 connected therebetween, each of the first active joints 120-1 to 120-3 that move independently and the second active joints 130-1- 130-3) It moves depending on each.

The control device 200 or the computer program PROG controls the first interface 210 of the parallel robotic system 100C to receive motion data from a host device connected to the parallel robotic system 100C.

The control device 200 or the computer program PROG uses the motion data transmitted from the host device to control the movement of each of the first active joints 120-1 to 120-3. Generates (CTR1-1 to CTR1-3), and generates second control signals (CRR2-1 to CTR2-3) that control the movement of each of the second active joints 130-1 to 130-3. I can.

The motion data transmitted from the host device may be stored in a live streamed motion data from a content acquisition device in communication with the host device, or in a database accessed by the host device, and then VOD (video on) by the host device. demand) may be moving data being streamed.

According to embodiments, when the parallel robotic system 100C further includes sensors, the control device 200 or the computer program PROG generates motion data using detection signals output from the sensors, and the First control signals CTR1-1 to CTR1-3 and second control signals CRR2-1 to CTR2-3 may be generated using the motion data.

The sensors include an image sensor capable of generating color image information, a depth sensor capable of generating depth (or distance) information, a sensor capable of generating the color image information and the depth information together, and a moving parallel robotic system. It may include a sensor capable of generating information about the angular velocity of (100C) and information about the acceleration.

When the parallel robotic system 100C further includes an audio execution device 255 and a video execution device 265, the control device 200 or the computer program (PROG) recalls the audio data and video data from the host device. The first interface 210 of the parallel robotic system 100C may be controlled to receive motion data together.

The control device 200 or the computer program PROG outputs the audio signal AS generated using the audio data to the audio execution device 255 and/or the video signal VS generated using the video data. The output to the video playback device 265 may be controlled.

The audio driver 250 that generates an audio signal AS using the audio data may be implemented as a hardware device or as part of a computer program PROG.

The video driver 260 that generates a video signal VS using the video data may be implemented as a hardware device or as part of a computer program PROG. The control device 200 or the computer program PROG may transmit the audio data to the audio driver 250 and may transmit the video data to the video driver 260.

7 is a schematic diagram of a system for providing a content service using a content acquisition device, a server, and a parallel robotic system, and FIG. 8 is a flowchart illustrating the operation of the system using the method shown in FIG. 7.

Referring to FIGS. 1A through 8, a content service providing system 300 that provides a content service includes a content acquisition device 310, a server 330, and a parallel robotic system 100. The parallel robotic system 100 may collectively refer to each parallel robotic system 100A, 100B, or 100C.

The content acquisition device 310 and the server 330 may exchange signals (information or data) through the first communication network 320, and the server 330 and the parallel robotic system 100 may provide a second communication network. Signals (information or data) may be exchanged through 360. The first communication network 320 may be an Internet or a Wi-Fi network, but is not limited thereto. The second communication network 360 may be a wired communication network or a Bluetooth communication network, but is not limited thereto.

The content acquisition device 310 refers to a device capable of generating second content data CTD2 including visual and/or audio data. The content acquisition device 310 includes a camera 312, sensors 314, and a processor 316.

The camera 312 may generate video data (eg, a still image or a moving picture), and the sensors 314 may generate information about the angular velocity and/or acceleration of the content acquisition device 310, The processor 316 may control the operation of the camera 312 and the sensors 314. Sensors 314 include a device capable of generating audio information.

The processor 316 may generate motion data representing a motion of the content acquisition device 310 by using information on angular velocity and/or acceleration output from the sensors 314. The processor 316 generates second content data CTD2 by synchronizing the video data (video data including audio data in some embodiments) and the motion data, and generates second content data CTD2. 1 can be transmitted to the communication network 320.

In a method of providing a content service using the content acquisition device 310, the server 330, and the parallel robotic system 100, the parallel robotic system 100 transmits the first content data CTD1 from the server 330. ) Is received (S330).

The parallel robotic system 100 includes first control signals CTR1-1 to CTR1-3 based on the first content data CTD1 (or using the moved data included in the first content data CTD1). ) And the second control signals CTR2-1 to CTR2-3 (S340).

The parallel robotic system 100 uses the first control signals CTR1-1 to CTR1-3, and first active joints 120-disposed on the base 110 of the parallel robotic system 100. 1 to 120-3) Each of the first active joints 120-1 to 120-3 is controlled so that each moves independently of each other along the first direction D1 (S342).

The parallel robotic system 100 uses second control signals CTR2-1 to CTR2-3, and second active joints connected to each of the first active joints 120-1 to 120-3 ( 130-1 to 130-3) Each of the second active joints 130-1 to 130-3 is controlled so that each moves independently of each other along the second direction D2 (S344). At each point in time, the first direction D1 and the second direction D2 may be perpendicular to each other.

Two second active joints 130-1 and 130-2, 130-2 and 130-3, and 130-3 and 130-1 corresponding among the second active joints 130-1 to 130-3 Each of the connection devices 140-1 to 140-3 connected therebetween is a movement of each of the first active joints 120-1 to 120-3 and the second active joints 130-1 to 130-3 It moves depending on each movement (S350).

In the method of providing the content service, the content acquisition device 310 generates video data using the camera 312, and measures the angular velocity and acceleration of the content acquisition device 310 using the sensors 314, and , The motion data corresponding to the measurement result is generated, the video data and the motion data are synchronized to generate second content data CTD2, and the generated second content data CTD2 is transferred to the server 330. Transmit (S310). According to embodiments, when the sensors 314 are sensors capable of generating obio data, the second content data CTD2 may include motion data, video data, and audio data synchronized with each other.

In the method of providing the content service, the server 330 transmits the second content data CTD2 as the first content data CTD1 to the parallel robotic system 100 (S330).

In the method of providing the content service, the processor 332 of the server 330 analyzes (or determines) a transmission mode signal stored in the memory device 334 (S320), and the transmission mode signal indicates live streaming. In the case of a signal, the processor 332 performs live streaming of the second content data CTD2 transmitted from the content acquisition device 310 as the first content data CTD1 to the parallel robotic system 100 (S326).

However, in the method of providing the content service, when the transmission mode signal is a signal indicating VOD streaming, the processor 332 stores the second content data CTD2 transmitted from the content acquisition device 310 in the database 350 Do (S322). The processor 332 retrieves the second content data CTD2 from the database 350 in response to a request to transmit the VOD data transmitted from the parallel robotic system 100, and provides the retrieved second content data CTD2. VOD streaming is performed as second content data CTD2 through the two communication network 360 (S324).

When the parallel robotic system 100 further includes a head mounted display (HMD) 265 as the video execution device 265, in the method for providing the content service, the parallel robotic system 100 Video data and motion data are extracted from (CTD1), and the first control signals CTR1-1 to CTR1-3 and the second control signals CTR2-1 to CTR2-3 are used using the extracted motion data. It generates and transmits a video signal VS corresponding to the extracted video data to the HMD 265. As described above, a method of providing a content service performed in the parallel robotic system 100 may be performed under control of a program PROG.

The present invention has been described with reference to the embodiments shown in the drawings, but these are only exemplary, and those of ordinary skill in the art will appreciate that various modifications and other equivalent embodiments are possible therefrom. Therefore, the true technical protection scope of the present invention should be determined by the technical idea of the attached registration claims.

100A, 100B, 100C, 100: parallel robotic system, parallel mechanism
110: base or base plate
115-1 to 115-3: vertical frames or screw shafts
120-1~120-3: first active joints
130-1~130-3: second active joints
140-1~140-3: connecting devices
142-1 to 142-3: slider blocks
144-1: passive joint
146-1: first slider
148-1: second slider
150-1 to 150-3: forced or rod
160: end effector
170-1 to 170-3: support devices, or scotch yokes
200: control device
210: first interface
220: memory device or data storage device
230: processor
240: second interface
250: audio driver
255: audio execution device
260: video driver
265: video execution device
310: content acquisition device
330: server
350: database

Claims (16)

First active joints, each of which moves independently of each other along a first direction in the base;
Second active joints, each connected to each of the first active joints, each moving independently of each other along a second direction perpendicular to the first direction; And
A multi-axis experience data simulation apparatus including a truss structure connected to the second active joints and dependently moving each of the first active joints and the movement of the second active joints. The method of claim 1,
Each of the first active joints is an active joint using a gear, a multi-axis experience data simulation apparatus. The method of claim 1,
Each of the second active joints is an active joint using a ball screw. Multi-axis experience data simulation apparatus. The method of claim 1, wherein the truss structure,
A connecting device, each of which is connected between the corresponding two second active joints among the second active joints, each of which moves depending on the movement of each of the first active joints and the movement of each of the second active joints field;
Rigid bodies each connected to each of the connecting devices; And
Multi-axis experience data simulation apparatus comprising an end effector connected to each of the rigid bodies. The method of claim 4,
The length of each of the connecting devices is a multi-axis experience data simulation apparatus that changes according to the movement of each of the first active joints and the movement of each of the second active joints. The method of claim 4, wherein each of the connection devices,
A slider block including a passive joint connected to a corresponding one of the rigid bodies;
A first slider connected between the slider block and any one of the corresponding two second active joints and movable along a first inner space of the slider block; And
Multi-axis experience data simulation apparatus comprising a second slider connected between the slider block and the other one of the corresponding two second active joints and movable along a second inner space of the slider block. The method of claim 6,
A multi-axis experience data simulation device in which the length change amount of the first slider and the length change amount of the second slider are the same. The method of claim 6, wherein each of the connection devices,
Multi-axis experience data simulation apparatus further comprising a Scotch yoke connected to the slider block, the first slider, and the second slider. In a computer program combined with hardware and stored in a storage medium to control a multi-axis experience data simulation device,
The computer program,
Controlling each of the first active joints so that each of the first active joints moves independently of each other along a first direction in the base of the multi-axis experience data simulation apparatus; And
Controlling each of the second active joints so that each of the second active joints connected to each of the first active joints moves independently of each other along a second direction perpendicular to the first direction,
Each of the connecting devices connected between the corresponding two second active joints among the second active joints is in a storage medium that moves depending on the movement of each of the first active joints and the movement of each of the second active joints. Stored computer programs. The method of claim 9,
Controlling the multi-axis experience data simulation device to receive motion data from a server connected to the multi-axis experience data simulation device; And
Using the motion data, generating first control signals for controlling the movement of each of the first active joints and generating second control signals for controlling the movement of each of the second active joints A computer program stored on a storage medium. The method of claim 10, wherein the motion data,
Motion data live streamed from an experience data acquisition device communicating with the server, or
A computer program stored in a storage medium, which is moving data that is VOD streamed by the server after being stored in a database accessed by the server. The method of claim 10,
When the multi-axis experience data simulation device further includes an audio playback device and a video playback device,
Controlling the multi-axis experience data simulation device to receive audio data and video data from the server together with the motion data;
Outputting an audio signal generated by using the audio data to the audio reproducing apparatus; And
The computer program stored in the storage medium further comprising the step of outputting the video signal generated by using the video data to the video playback device. In a method of providing an experience data simulation service using an experience data acquisition device, a server, and a multi-axis experience data simulation device,
Receiving, by the multi-axis experience data simulation apparatus, first simulation data from the server;
Generating, by the multi-axis experience data simulation apparatus, first control signals and second control signals based on the first simulation data;
Each of the first active joints so that the multi-axis experience data simulation apparatus moves independently of each other along a first direction at the base of the multi-axis experience data simulation apparatus using the first control signals. Controlling; And
The multi-axis experience data simulation apparatus uses the second control signals so that each of the second active joints connected to each of the first active joints moves independently of each other along a second direction perpendicular to the first direction. Controlling each of the second active joints,
Experience data simulation that each of the connecting devices connected between the corresponding two second active joints among the second active joints moves depending on the movement of each of the first active joints and the movement of each of the second active joints How to provide the service. The method of claim 13,
Generating video data using a camera of the experience data acquisition device;
Measuring the angular velocity and acceleration of the simulation data acquisition device using sensors of the experience data acquisition device, and generating motion data corresponding to the measurement result;
Generating second simulation data by synchronizing the video data and the motion data using the experience data acquisition device, and transmitting the second simulation data to the server; And
And transmitting, by the server, the second simulation data as the first content data to the multi-axis experience data simulation device. The method of claim 14, wherein transmitting the second simulation data as the first simulation data comprises:
Based on the transmission mode signal, the server stores the second simulation data as the first simulation data in a database for VOD streaming, or stores the second simulation data as the first simulation data with the multi-axis experience data simulation device. How to provide a streaming experience data simulation service. The method of claim 14, wherein when the parallel robotic system further includes a head mounted display (HMD),
Extracting, by the multi-axis experience data simulation apparatus, the video data and the motion data from the first simulation data;
Generating, by the multi-axis experience data simulation apparatus, the first control signals and the second control signals by using the motion data; And
The method of providing an experience data simulation service further comprising the step of transmitting the video data to the HMD by the multi-axis experience data simulation device.

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