WO1994010665A1 - Mecanisme de simulation - Google Patents

Mecanisme de simulation Download PDF

Info

Publication number
WO1994010665A1
WO1994010665A1 PCT/GB1993/002258 GB9302258W WO9410665A1 WO 1994010665 A1 WO1994010665 A1 WO 1994010665A1 GB 9302258 W GB9302258 W GB 9302258W WO 9410665 A1 WO9410665 A1 WO 9410665A1
Authority
WO
WIPO (PCT)
Prior art keywords
simulator
actuators
plane
points
freedom
Prior art date
Application number
PCT/GB1993/002258
Other languages
English (en)
Inventor
Philip Raymond Michael Denne
Original Assignee
Denne Developmemt Limited
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Denne Developmemt Limited filed Critical Denne Developmemt Limited
Publication of WO1994010665A1 publication Critical patent/WO1994010665A1/fr

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Classifications

    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
    • G09B9/12—Motion systems for aircraft simulators
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
    • G09B9/12—Motion systems for aircraft simulators
    • G09B9/14—Motion systems for aircraft simulators controlled by fluid actuated piston or cylinder ram

Definitions

  • the present invention relates to a simulator mechanism such as an aircraft simulator which controls the motion of a capsule and causes it to move with 3 degrees of freedom.
  • a simulator mechanism such as an aircraft simulator which controls the motion of a capsule and causes it to move with 3 degrees of freedom.
  • Such a simulator mechanism may be used to reproduce the motion of a car, boat, space craft, roller coaster or other vehicle.
  • the simulator provides motion cues which create psychological impressions of real movements in the six possible axes of heave, pitch, roll, sway, surge an yaw.
  • GB 2068322 discloses a motion system providing three degrees of freedom for a flight simulator .
  • extendible actuators are mounted on a base apart from each other and providing vertical forces to a motion platform to which the simulation capsule is to be affixed.
  • any rotation applied to the motion platform must have an associated lateral force.
  • the centre of mass of the capsule moves laterally when it rotates about an axis which is, in this case, below it.
  • a lateral force must exist in the mechanism and this lateral force is provided by the bearings of the restraining frames. It is therefore necessary for these restraining frames to be sufficiently robust to resist the lateral forces which are generated by impulsive pitch and roll actions of the simulator capsule.
  • EP 317062 discloses a simulator mechanism capable of operating in three degrees of freedom comprising a base having a fixed plane, a simulator plane and three independently extendible actuators capable of changing the position of the simulator plane relative to the base plane.
  • the three actuators are pivotally coupled with universal freedom at substantially a single point on the fixed plane.
  • Each actuator is pivotally coupled to a point on the simulator plane, these coupling points being situated at the three vertices of a triangle.
  • EP 317062 The principal advantage of EP 317062 is that, because the actuators extend outwards from a point beneath or close to the centre of mass of the simulator capsule, the lateral forces required to rotate the capsule about a point which is significantly beneath it (lateral forces) are applied directly by the actuators themselves. There is therefore no need for a robust restraining frame mechanism.
  • An alternative method of considering the advantage in the design of this mechanism is that, by Newton's third law, it must always be possible to draw a closed physical connection path between the upper end of an actuator and the lower end of the same actuator in order that the forces within the motion mechanism may be balanced. In the design of GB 2068322 this path of physical stress must pass through the bearings of the restraining frames, whereas in EP 317062 this is not necessary, the forces of one actuator being returned through the shafts of the other two opposing actuators.
  • Embodiments of the present invention remove the requirement for a restraining mechanism by arranging for the actuators themselves to be so constrained as to provide an intrinsic resistance to forces which tend to rotate the actuator mechanism about a vertical axis (yaw-rate), or to cause it to fall to the left or right (sway), or to fall forwards or backwards (surge) from its previous position.
  • a simulator mechanism operable in three selected degrees of freedom comprising a base plane, a simulator plane and three extendible actuators capable of changing the position and the orientation of the simulator plane with respect to the base plane in three selectable degrees of freedom, the three actuators being coupled with one axis of freedom at points separated significantly from each other on the base plane and pivotally coupled with universal freedom at points separated significantly from each other on the simulator plane.
  • each of the actuators is coupled to the base plane through a bearing such as a hinge, which is robustly constructed to allow pivoting about one axis only. It is advantageous for the axes of these bearings to form the sides of a triangle, which is preferably an equilateral triangle. It is also preferred that the axes of the actuators intersect with the simulator plane at points which form the corners of a triangle, which in some preferable embodiments is an equilateral triangle. It is then possible to ensure, even while the actuators are moving, that the axes of the actuators each diverge from points on a common line.
  • the actuators may have the same lengths, at a minimum and maximum extension, as each other, or these lengths may differ from each other.
  • the sizes and positions of the triangles on the base and simulator planes, and the lengths of the actuators are chosen such that the centre of mass of a simulator capsule on the simulator plane may be kept above the centroid of the points at which the actuators are coupled to the base plane.
  • This condition may be maintained to a desired level of accuracy by external control, either by physically controlling the range of position and/or lengths which each actuator may assume, by computer control of signals to the actuators, or otherwise.
  • the resultant motion caused by extending and shortening the actuators in combination with the rotation of the actuators about their allowed axes limited of course by the fixed distance apart of the points at which the actuators are joined to their hinges, and by the fixed distance apart of the points at which the actuators are joined to the simulator plane, will be a combination of movements of the heave, pitch and roll types.
  • the actuators themselves may be of any type that allows linear extension and contraction, such as electromagnetic rams, pneumatic or hydraulic pistons, ballscrew actuators, or others.
  • a hinge bearing must be mounted with at least two points of contact, and generally with a line of contact along the hinge-axis if it is to prevent motion with more than one degree of freedom.
  • the range of lengths of the actuators and the positions of their coupling points with the planes prefferably be such that the simulator plane can be lowered to allow users of the simulator to enter and leave a capsule mounted to it, while allowing the simulator plane to be raised a safe distance above the base plane during use in order that the planes and the actuators do not contact each other accidentally while in motion.
  • Figure 1 shows a diagrammatic perspective view of a simulator mechanism according to the present invention, with parts of the actuator support structure left out for clarity.
  • Figure 2 shows the part of Figure 1 relating to one actuator in more detail, with the support structure of that actuator shown.
  • Figure 3 shows a perspective view of a simulator mechanism according to the present invention
  • Figure 4 shows in diagrammatic form examples of positions and orientations of the simulator plane when the actuators are extended or shortened one at a time.
  • Figure 5 shows a set of mutually perpendicular axes, with the six standard degrees of freedom of motion of a body in space shown on the axes.
  • Figure 1 shows a general form of preferred embodiment of a simulator mechanism according to the present invention.
  • a base plane 10 which may rest on a floor or be otherwise stably supported, and a simulator plane 40 on which would be mounted a capsule (not shown) that is to undergo simulated motion.
  • the capsule may represent a cabin, such as an aircraft cabin, in which a user would stay during use in order to be subjected to simulated motion of, in this example, an aircraft.
  • actuators 30 On the base plane 10 are mounted three actuators 30 which may be any type of linearly extendible ram. Note that any required connections (eg 33, in Figure 2) to the actuators 30 are not shown in Figure 1.
  • the actuators are mounted in such a way that each is free to rotate in direction A with one degree of freedom about a point 24 on the base plane 10.
  • the actuators 30 may be mounted by means of hinges 26 whose axes each lie in the base plane 10.
  • the axes about which the actuators are free to rotate in the example, the axes of the hinges
  • This notional triangle 20 is preferably an equilateral triangle.
  • the axes of the actuators 30 it is also preferable for the axes of the actuators 30 to intersect with the axes about which they are free to rotate at points 24 which are the midpoints of the sides 22 of the notional triangle 20 on the base plane 10. These points 24 can be thought of as the coupling points of the actuators 30.
  • each coupling point 24 is the midpoint of one of the sides 22 of the notional triangle 20. They thus form a smaller notional triangle within the notional triangle 20.
  • the axes of the actuators 30 diverge from points on a common line irrespective of their angular positions, this line preferably being the line perpendicular to the base plane, passing through the centroid of the notional triangle.
  • each actuator 30 is therefore free to rotate in directions A about an axis which is along the side 22 of the triangle 20 to which it is connected.
  • Each actuator 30 is also supported by support arms 34 hinged so as to be free to rotate about the same axis as the actuator (see Figure 2). This strengthens the structure and prevents the actuator 30 from buckling or from leaving its allowed axis of rotation, and puts less stress on the hinge 26 at the midpoint 24 of the side of the triangle.
  • Each actuator 30 may be extended or shortened in directions B by a length up to that of an extendible arm 32 which in general is approximately equal to the length of the actuator, but may be longer if it is extendible in stages, with for example a telescopic action. This may be done by hydraulic means or otherwise.
  • the extendible arm 32 may be supported by a slide bearing 38, to further strengthen the structure of the simulator mechanism.
  • the arms 32 of the actuators 30 are each joined to a point of the simulator plane 40 by means of a universal bearing 36, the three bearings forming a notional triangle 50. This notional triangle 50 is preferably an equilateral triangle and is in the simulator plane 40.
  • the two notional triangles 20 and 50 may be of a similar size or of different sizes, depending on the required extent of the motion and the stability required. Generally however the centre of mass of the capsule should be above the centroid of the triangle 50. In addition, the centre of mass of the capsule should be kept to a required level of accuracy, above the centroid of the points at which the actuators are coupled to the base plane. This condition may be maintained by suitable choices of sizes and positions of the triangles 20 and 50, lengths of the actuators 30 and/or external control of the types of movements that are caused by extending and shortening the actuators.
  • the coupling points of the actuators 30 to the triangle 20 on the base plane 10 should thus be separated sufficiently from each other for the triangle 20 to be sufficiently large to provide a means of transferring the forces produced by the actuators to the stable base plane 10. Taking practical considerations into account, the length of each side 22 of the triangle 20 must at least be sufficient for the hinge and support arm structure to be accommodated.
  • FIG. 2 shows the part of Figure 1 relating to one of the three actuators in more detail.
  • the support structure for the actuator consisting of two support arms 34 mounted on a hinge 26 with an axis in common with the axis at the actuator 30, is shown in full for one actuator, and by means of dotted lines for the other two actuators.
  • each actuator is able to rotate on the one axis 22 in directions A, and change its length in directions B under the control of the driving power source, represented by connection points 33, by extending and shortening the protruding length of the extendible arm 32.
  • the actuators 30 may be any type of linearly extendible ram. Possible types include electromagnetic rams, hydraulic of pneumatic pistons, and ballscrew actuators in which the actuators 30 and their arms 32 are threaded such that the rotation of one of them in one direction or other about their common axis causes the extendible arm 32 to move further into or further out of the actuator. This rotation must not, of course, be allowed to change the plane in which the actuator 30 itself can rotate in relation to the base plane 10.
  • Figure 3 shows a perspective view of a simulator mechanism according to the present invention.
  • the mechanism is shown without a simulator capsule on the simulator plane 40.
  • the embodiment shown has no additional support arms (34 in Fig. 2). Without support arms, a simulator mechanism has been built and is able to carry payloads in excess of 300kg.
  • Figure 4 illustrates the possible positions and orientations of the simulator plane of a preferred embodiment of the invention.
  • each actuator 30a, 30b may be extended to approximately twice its unextended length.
  • the notional triangle 50 upon which the simulator plane 40 is mounted is moved from the position indicated by unbroken line 50 to the position indicated by broken line 50a', as the actuator 30 moves from the position indicated by unbroken line 30a to that indicated by broken line 30a 1 .
  • Figure 5 shows the six possible degrees of freedom of a body moving in three dimensional space.
  • There are three types of directional movements namely sway movements in directions Sw along one substantially horizontal axis, surge movements in directions Su along a second substantially horizontal axis, and heave movements in directions H along a substantially vertical axis.
  • There are also three types of rotational movements namely pitch movements in directions P about one substantially horizontal axis, roll movements in directions R about a second substantially horizontal axis, and yaw movements in directions Y about a substantially vertical axis. Any motion in three dimensions of a rigid body can be described as a combination of these six degrees of freedom.
  • the remaining types of movement namely the roll R, pitch P, and heave H types are those most often required in low-cost simulated motion because the other three can be adequately represented by coupling sway into roll, surge into pitch and yaw-rate into a combination of pitch and roll.

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  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Business, Economics & Management (AREA)
  • Physics & Mathematics (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • General Physics & Mathematics (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)

Abstract

Un mécanisme de simulation pouvant être commandé selon trois degrés de liberté comprend un plan de base (10), un plan de simulateur (40), et trois actionneurs (10) extensibles pouvant changer la position et l'orientation du plan de simulateur. Les trois actionneurs sont couplés avec un axe de liberté en des points mutuellement séparés sur le plan de base, et sont couplés de manière pivotante avec une liberté universelle en des points situés à une distance significative l'un de l'autre sur le plan de simulateur. Ledit mécanisme permet de simuler des mouvements avec six degrés de liberté dans l'espace tridimensionnel, alors qu'en réalité il permet seulement un mouvement avec trois degrés de liberté, par exemple ceux de montée/descente, de tangage et de roulis. Ces mouvements simulés peuvent également être réalisés sans qu'il soit nécessaire de disposer de cadres de retenue ou d'une embase lourde pour équilibrer les forces qui autrement ne seraient pas compensées.
PCT/GB1993/002258 1992-11-03 1993-11-03 Mecanisme de simulation WO1994010665A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB9222961.6 1992-11-03
GB929222961A GB9222961D0 (en) 1992-11-03 1992-11-03 Simulator mechanism

Publications (1)

Publication Number Publication Date
WO1994010665A1 true WO1994010665A1 (fr) 1994-05-11

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ID=10724418

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB1993/002258 WO1994010665A1 (fr) 1992-11-03 1993-11-03 Mecanisme de simulation

Country Status (2)

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GB (1) GB9222961D0 (fr)
WO (1) WO1994010665A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5752834A (en) * 1995-11-27 1998-05-19 Ling; Shou Hung Motion/force simulators with six or three degrees of freedom
WO1998058357A1 (fr) * 1997-06-13 1998-12-23 SOFTWINGS Société Anonyme Simulateur de vol
WO1999013445A1 (fr) * 1997-09-09 1999-03-18 Stefan Otto Simulateur de mouvement
WO1999042975A1 (fr) * 1998-02-20 1999-08-26 Stn Atlas Elektronik Gmbh Systeme a mouvement
WO2018219840A1 (fr) * 2017-05-29 2018-12-06 A O Ideas Gmbh Dispositif de tamisage et procédé de fonctionnement
CN112834147A (zh) * 2021-01-04 2021-05-25 江苏富浩电子科技有限公司 一种连接器连接稳定性检测设备

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1080074A (en) * 1963-04-11 1967-08-23 Elliott Brothers London Ltd Improvements in mechanical positioning systems
US3577655A (en) * 1969-05-19 1971-05-04 Singer General Precision Motion simulator
EP0317062A1 (fr) * 1987-09-29 1989-05-24 Super X Limited Mécanisme de simulateur
WO1993001577A1 (fr) * 1991-07-12 1993-01-21 Denne Developments Limited Appareil communiquant un mouvement

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1080074A (en) * 1963-04-11 1967-08-23 Elliott Brothers London Ltd Improvements in mechanical positioning systems
US3577655A (en) * 1969-05-19 1971-05-04 Singer General Precision Motion simulator
EP0317062A1 (fr) * 1987-09-29 1989-05-24 Super X Limited Mécanisme de simulateur
WO1993001577A1 (fr) * 1991-07-12 1993-01-21 Denne Developments Limited Appareil communiquant un mouvement

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5752834A (en) * 1995-11-27 1998-05-19 Ling; Shou Hung Motion/force simulators with six or three degrees of freedom
WO1998058357A1 (fr) * 1997-06-13 1998-12-23 SOFTWINGS Société Anonyme Simulateur de vol
WO1999013445A1 (fr) * 1997-09-09 1999-03-18 Stefan Otto Simulateur de mouvement
US6210164B1 (en) 1997-09-09 2001-04-03 Stefan Otto Motion simulator
WO1999042975A1 (fr) * 1998-02-20 1999-08-26 Stn Atlas Elektronik Gmbh Systeme a mouvement
WO2018219840A1 (fr) * 2017-05-29 2018-12-06 A O Ideas Gmbh Dispositif de tamisage et procédé de fonctionnement
CN110709176A (zh) * 2017-05-29 2020-01-17 Ao概念有限公司 筛分装置和操作方法
US11185889B2 (en) 2017-05-29 2021-11-30 A O Ideas Gmbh Sieving device and operating method
CN110709176B (zh) * 2017-05-29 2022-04-15 Ao概念有限公司 筛分装置和操作方法
CN112834147A (zh) * 2021-01-04 2021-05-25 江苏富浩电子科技有限公司 一种连接器连接稳定性检测设备

Also Published As

Publication number Publication date
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