WO2011064560A1 - Simulateur de mouvements - Google Patents

Simulateur de mouvements Download PDF

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Publication number
WO2011064560A1
WO2011064560A1 PCT/GB2010/002300 GB2010002300W WO2011064560A1 WO 2011064560 A1 WO2011064560 A1 WO 2011064560A1 GB 2010002300 W GB2010002300 W GB 2010002300W WO 2011064560 A1 WO2011064560 A1 WO 2011064560A1
Authority
WO
WIPO (PCT)
Prior art keywords
payload
motion
resilient biasing
lever
axis
Prior art date
Application number
PCT/GB2010/002300
Other languages
English (en)
Inventor
Duncan Milne James
Original Assignee
Next Step Solutions Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Next Step Solutions Ltd filed Critical Next Step Solutions Ltd
Publication of WO2011064560A1 publication Critical patent/WO2011064560A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63G—MERRY-GO-ROUNDS; SWINGS; ROCKING-HORSES; CHUTES; SWITCHBACKS; SIMILAR DEVICES FOR PUBLIC AMUSEMENT
    • A63G19/00—Toy animals for riding
    • A63G19/20—Toy animals for riding motor-driven
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63G—MERRY-GO-ROUNDS; SWINGS; ROCKING-HORSES; CHUTES; SWITCHBACKS; SIMILAR DEVICES FOR PUBLIC AMUSEMENT
    • A63G31/00—Amusement arrangements
    • A63G31/16—Amusement arrangements creating illusions of travel
    • 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
    • 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

Definitions

  • This invention relates to motion simulation apparatus and method intended to simulate to one or more users the sensations of acceleration experienced in a number of real life situations.
  • Such equipment works by physically moving the user in a number of ways, using both acceleration of the user and their repositionment relative to the direction of acceleration due to the earth's gravity, to cause forces to be exerted on their body which approximate, or tend towards, those forces created by the accelerations that would occur in the real life situation being simulated.
  • Movement is often caused by a number of externally powered 'prime movers' or 'actuators', hereinafter referred to as actuators, which act to generate motion between the user's frame of reference and some external frame of reference, often the earth's.
  • actuators which act to generate motion between the user's frame of reference and some external frame of reference, often the earth's.
  • These devices are often under computer control where the action(s) of the actuator(s) at any time is (are) calculated and prescribed by the computer to produce the most realistic simulation possible.
  • the controlling computer may be responding to pre-determined motions cues, as for instance, in the simulation of a rollercoaster ride, or movie car chase, or interactively to cues ultimately derived as a result of the user's input to a video game such as a driving game or flight simulator.
  • a typical device may comprise a base, which is stationary in the external frame of reference, a motion 'table' or 'sled', hereinafter referred to as a motion table, which is intentionally stationary in the frame of reference of the user, some method of attachment of the latter to the former such that relative motion between the two is only possible in the desired degrees of freedom, hereinafter referred to as a main joint and a number of actuators attached between the base and motion table such as to control that relative motion.
  • the user would somehow occupy the table, perhaps along with other objects such as user controls and a seat, hereinafter referred to as user accessories.
  • Any collection of objects held stationary in the user's frame of reference, including motion table, user and user accessories shall hereinafter be referred to as a payload.
  • pitch and roll degrees of freedom where pitch is defined as rotational movement about an axis running side to side in relation to the user and roll is defined as rotational movement about an axis running front to back relative to the user at a nominal point of zero angular displacement relative to the base's frame of reference.
  • the movement in any degree of freedom of the payload requires kinetic energy to be imparted by the actuators on the payload in that force is required to move the payload and movement thereby occurs under force.
  • a device, or subsection of a device which is configured such that the payload may move in only the pitch and roll degrees of freedom.
  • Effort required from actuators to support and move the payload may be minimised by ensuring, by design and positionment of the main joint, that the transverse and longitudinal axes of the payload's rotational movement intersect, and that the centre of mass of the payload is positioned at the point of their intersection.
  • the payload is moved in pitch or roll, the vertical force due to acceleration of the payload by gravity is borne entirely by the main joint, the force required from the actuators being concerned purely with changing the rotational velocity of the payload, never supporting its weight.
  • US patent application US20090163283A1 (Serial No. 12/343,017) by Robert Childress relates to a motion platform video game racing and flight simulator and is concerned with the proximate location of the centre of mass of the payload and the point of intersection of its transverse and longitudinal axes of rotation but has a number of disadvantages.
  • the hollow body stanchion 56 as described therein protrudes into the space occupied by the payload to allow proximate location of the two points. As drawn in the included diagrams it may make user access awkward, occupation uncomfortable and movement whilst in occupation hampered. It is also unsightly and the potential cause of user injury.
  • the actuator(s) responsible for motion in that degree will experience a force due to gravity acting on the payload as its centre of mass is no longer directly above or below the concerned axis of rotation. Furthermore the magnitude of this force will increase as rotational displacement increases until a maximum when the payload is oriented at right-angles to its centre position.
  • a motion simulation device or sub-section thereof, allowing motion in pitch and/or roll degrees of freedom, includes a resilient biasing mechanism, referred to as a spring assistance mechanism further below, whereby one or more devices able to convert kinetic energy to stored potential energy, and vice-versa, such as springs or other forms of resilient biasing element, are attached within the mechanism of such a device in such a way as to effectively oppose forces due to the action of gravity on the device's payload, that would otherwise be coupled to the actuators, occurring when the centre of mass of the payload is not vertically in line with the axis(es) of rotation.
  • a resilient biasing mechanism referred to as a spring assistance mechanism further below
  • a spring assistance mechanism as referred to herein is defined as a mechanism comprising some energy storage device capable of readily converting kinetic energy to stored potential energy and vice versa, and other mechanical components configured in such a way as to oppose and thereby partly, substantially or wholly cancel forces applied to it.
  • Said energy storage device may take many forms such as coiled, leaf or torsion bar springs, elastic cords, air compression springs and counterbalance weights, for example.
  • One or more embodiments of the invention may provided a motion simulation device, or subsection thereof, allowing motion in pitch and/or roll degrees of freedom, which has one or more of the following advantages:
  • a further aspect of the invention provides a motion platform for supporting a payload which allows said payload to move in one or more rotational degrees of freedom having respective axes of rotation which are perpendicular to the direction of gravity, such as pitch and/or roll, wherein torque exerted about the axis or axes of rotation due to angular displacement of the motion platform is opposed by torque about said axes exerted by one or more kinetic energy storage devices, whereby external effort required to support the payload during angular displacement of the motion platform is reduced.
  • a still further aspect of the invention provides a motion platform apparatus comprising: a seat unit and a floor-mounted base unit to which the seat unit is connected by a main joint configured to permit angular displacement of the seat unit in a first degree of freedom having a first axis of rotation which is substantially horizontal, wherein the base unit comprises a first actuating device driveable to cause angular displacement of the seat unit in the first degree of freedom, wherein the angular displacement of the seat unit about the first axis of rotation generates a first component of load-induced torque as a result of the centre of gravity of the seat unit, with occupant, being laterally shifted away from the first axis of rotation as the seat unit is tilted, and wherein the base unit further comprises a first energy storage device arranged to store energy generated by the first component of the user-induced torque, so as to generate a first component of reaction torque opposed to the first component of the user- induced torque.
  • the main joint is preferably also configured to permit angular displacement of the motion platform in a second degree of freedom having a second axis of rotation which is also substantially horizontal and which is perpendicular to the first axis of rotation.
  • the base unit further comprises a second actuating device and a second energy storage device, wherein angular displacement of the seat unit about the second axis of rotation generates a second component of load-induced torque as a result of the centre of gravity of the seat unit, with occupant, being laterally shifted away from the second axis of rotation as the seat unit is tilted, and wherein the base unit further comprises a second energy storage device arranged to store energy generated by the second component of the user-induced torque, so as to generate a second component of reaction torque opposed to the second component of the user-induced torque.
  • the first degree of freedom is one of pitch and roll.
  • the first and second degrees of freedom correspond to pitch and roll.
  • the energy storage device or devices are configured to effectively cancel out the torque.
  • the energy storage device or devices are configured to offset a proportion of the torque, either less than the predicted total or more than the predicted total. It will be understood that the magnitude of the torque will be load dependent, e.g.
  • the energy storage device is advantageously provided with a user-adjustable biasing element, so that the amount of reaction torque can be trimmed, i.e. adjusted, to match the user.
  • the trimming may be carried out manually by a user, or may be automated.
  • An automated system would incorporate electric motors, such as servo motors, or other electronically drivable adjusters to adjust the biasing element.
  • the adjuster would have an input for receiving a signal to set the biasing element with the desired amount of bias.
  • control software could cause the actuator devices to cause a sequence of movements in the or each degree of freedom, to assess the magnitude and positioning of the payload, i.e. the user's weight distribution, and then to trim the biasing element in response to that.
  • the apparatus may be supplied as a kit, for example with the seat unit may be supplied separate from the base unit.
  • the seat unit may also be supplied broken down, e.g. with the seat and a motion table separate and requiring customer assembly. To assemble the apparatus, the customer would then need to mount the seat unit on the base unit by connecting them at the main joint. If necessary, the seat unit and/or the base unit may also require some prior assembly. Other features may be supplied separately for assembly after delivery as convenient.
  • the invention therefore also extends to a kit of parts which upon assembly form a motion platform apparatus as described herein.
  • Fig 1A shows a side view of a first embodiment of the motion platform including mounted accessories.
  • the base is cut away on the side facing the view to better show the internal components.
  • Fig 1 B and 1C show the same view of the platform without accessories to highlight the operation of the mechanics of the device.
  • 1 B shows the device with the motion table pitched fully forward
  • Fig 1C with the motion table pitched fully backwards.
  • Fig 2A, 2B & 2C show a rear view of the preferred embodiment of the invention with the rearmost panelling fully cut away, without accessories attached.
  • Fig 2A shows the device with its motion table at central position, Fig 2B with the table rolled fully left and Fig 2C with the table rolled fully right.
  • Fig 3A shows a second embodiment of the motion platform of this invention.
  • the side panel closest to view is partially cut away and the components closest to view completely cut away to show the components on the far side of the base.
  • the motion table is currently at centre.
  • Fig 3B & 3C show the same view as Fig 3A but without accessories attached.
  • Fig 3B shows the motion table pitched fully forward and
  • Fig 3C the motion table pitched fully backward.
  • Figures 1 A, B & C and 2 A, B & C illustrate a first embodiment of the motion simulation device of the present invention.
  • the device has a base 10 which is a box with a four-sided pyramidal upper section atop four vertical walls, joined at each end, which, via four attached rubber feet 11(A, B, C & D), supports the device upon the ground.
  • the base is constructed of seam-welded aluminium-alloy plate, but could be made in other metals, plastics or composites.
  • the base supports a motion table 12 via a main joint 13 positioned at the apex of the base's pyramid.
  • the table 12 is an aluminium alloy framework to which objects to be moved in the simulation may be attached, although other materials and construction types may be employed.
  • the main joint 13 is a "Hardy-Spicer” or “Cardan” type universal joint configured to allow relative movement between the table and the base only in the pitch degree of freedom (DoF), i.e. rotational movement about an axis running from one side of the device to the other, and the roll DoF, i.e. rotational movement about an axis running from the front of the device to the back.
  • DoF pitch degree of freedom
  • Such joints are well known to those versed in the art and other types of joint allowing such movement may be substituted.
  • a footrest 16 supporting car style footpedal set 17. Also attached are two seat mount plates 14 A & B supporting a seat 15 and manual control mount 18 which in turn supports a steering wheel 19.
  • the seat is a bucket type racing car seat, readily available from many sources, but could be some other user accomodator.
  • the footrest and manual control mount are aluminium alloy frameworks but may be constructed in other manners using other materials. Other objects may also be attached to the table such as a video display unit, different or no controls, etc.
  • the combination of the table and those things rigidly attached to it will hereinafter be referred to as the payload.
  • the payload is mounted to the main joint in a configuration whereby at a notional central position in the payload's range of rotational displacements, where axes of both pitch and roll are parallel to the ground's plane and to the table's plane, the centre of gravity of the payload is positioned vertically above and in line with the axes of allowed rotation of the main joint.
  • an assistance lever 20 which protrudes beneath the table into the cavity of the base.
  • a ball joint 21 A whose outer portion is rigidly attached to the assistance lever.
  • the assistance lever is mounted to the table such that the centre of the ball joint 21 A lies on an axis which is perpendicular to, and intersects, both the pitch and roll axes of the table.
  • a spring hanger 22 which provides a means of connection of one end of a coiled music wire extension spring 23 to the assistance lever via the ball joint such that the spring may move angularly in relation to the assistance lever while exerting a force upon the assistance lever along the centreline of the spring.
  • a four membered pyramidal aluminium-alloy spring support frame 24 Inside the base is a four membered pyramidal aluminium-alloy spring support frame 24, inverted in relation to the pyramidal section of the base, the outer ends of whose members are attached close to the centres of each of the corners of the pyramidal section of the base.
  • the apex of the frame 24 is thus located directly below the main joint and therefore directly below both pitch and roll axes.
  • a ball joint 21 B At the apex of the spring support frame is a ball joint 21 B whose outer section is rigidly attached to the framework.
  • an adjustable spring hanger 25 Rigidly attached to the centre of the ball joint 21 B is an adjustable spring hanger 25 which provides a means of connection of the other end of the spring 23 to the pyramidal framework 24 via the ball joint 21 B such that the spring may move angularly in relation to the pyramidal framework while exerting a force upon the pyramidal framework along the centreline of the spring.
  • the length of spring hanger 25 is screw adjustable to allow the pre-load of the spring, that is the tension in the spring with the payload at its central position, to be adjusted after installation.
  • the pyramidal framework, ball joints and spring hangers could be replaced by some other means of locating the spring between the base and the assistance lever.
  • the coil spring could be replaced by some other method of readily converting kinetic energy into stored potential energy and vice versa.
  • the distance between the axes of pitch and roll of the main joint 13 and the centre of the ball joint 21 A, the distance between the centres of ball joint 21 A and ball joint 21 B at the payload's central position, the rate of the spring 23 and the pre-load of the spring 23 are calculated based upon the mass of the payload, the distance between the pitch and roll axes of the main joint 13 and the centre of mass of the payload and the limits of angular displacement of the payload relative to the base so as to provide an optimal relationship between the moments about the axes of pitch and roll caused by the action of gravity on the mass of the payload and the opposing moments about the axes of pitch and roll caused by the extension of the spring across the range of anglar displacement of the payload.
  • connection points for two telescopic linear actuators 26A & 26B To the outside rear corners of the table 12 are connection points for two telescopic linear actuators 26A & 26B.
  • the outer ends of their inner portions are connected to the table by ball joints 27A & 27B so that angular movement between the table and the actuators is possible.
  • the outer portions of the actuators are, at their outer ends, connected to the inside rear corners of the base via ball joints 27C & 27D so that angular movement between the base and actuators is possible.
  • Apertures in the base are provided for the actuators' inner sections to pass through.
  • connections of the two portions of each actuator to the table and base is such as to cause angular movement between the base and table, constrained by the main joint, when the portions of the actuators move relative to one another to cause extension and contraction of the actuators such that both actuators extending or contracting causes movement in the pitch DoF and one actuator extending while the other contracts causes movement in the roll DoF.
  • the base 10 provides the main structure of the device, supporting and housing other parts. It is supported on some ground plane by the rubber feet 11 which serve to provide some levelling to slightly uneven planes and to limit the coupling of vibrations from the working device into the ground plane.
  • the motion table 12 supports the rest of the payload attached to it and moves in both pitch and roll degrees of freedom (DoF) relative to the base 10. The two are connected by the main joint 13 which through its design constricts relative motion between the base and the table to that in the pitch and roll DoF.
  • the motion table is further connected to the base via balljoints 27 A, B, C & D and linear actuators 26 A & B. Under use the user occupies the seat 15, their lower legs and feet being supported by the footrest 16.
  • the user may use the steering wheel 9, connected to the motion table by the manual control mount 18, and footpedal set 17 to interact with an external computer simulation.
  • An outcome of the computer simulation is control signals which are fed to the linear actuators 26 A & B, changing their extension and so the distance between their attachment points to the base and motion table at balljoints 27 A, B, C & D and therefore causing displacements in pitch and or roll between the base and motion table.
  • This movement causes the movement of the payload of the device, including the user, relative to the base 10 and hence the ground plane upon which the base stands.
  • the geometry of the mounting of the payload to the motion table 12 is such that the centre of gravity (CoG) of the payload is positioned vertically above the centres of both pitch and roll, i.e. the centre of the main joint 13. At this position all the weight of the payload is being borne by the main joint. As the payload is moved in either allowed DoF its CoG is moved so that it is no longer vertically above the centre of the main joint, thus some of the weight of the payload would, without the spring assistance system of this invention, now be borne by the actuators. The further the payload moves the further the CoG moves so the more weight would be borne by the actuators.
  • the assistance lever 20 and the extension spring 23 are in line between the centre of the main joint and the apex of the spring support frame 24
  • the assistance lever, extension spring and spring support frame are inter-connected via the two balljoints 21 A & B and the two spring hangers 22 & 25.
  • the balljoints 21 A & B allow angular displacement between the assistance lever, extension spring and the base and spring support frame which are rigidly connected.
  • Spring hanger 25 has a screw mechanism whereby its length can be adjusted. The shorter it is the more the pre-load in the spring, i.e. the tension in the spring at this central position.
  • the length of the spring hanger 25 is adjusted based on the mass of the payload and the height of its CoG above the centre of the main joint.
  • tension in the spring is opposed by the rigidity of the base, spring support frame and assistance lever and the limits of allowed movement in the main joint and balljoints 21 A & B.
  • the assistance lever rigidly attached to the motion table, moves so that the assistance lever and spring are no longer inline.
  • the pre-load tension in the spring now acts to exert a moment upon the assistance lever about the main joint centre.
  • the extension spring is forced to extend, thus its tension increases. The combination of these effects tends to pull the assistance lever back in line with the spring.
  • FIG. 3 A, B & C A second embodiment of the motion simulation device of the present invention is illustrated in Figures 3 A, B & C.
  • the device of the second embodiment shares many components with that of the first embodiment, namely the base 10, feet 11 , motion table 12, main joint 13, seat mount plate 14, seat 15, footrest 16, footpedal set 17, manual control mount 18, steering wheel 19, linear actuators 26 A & B and balljoints 27 A, B, C & D.
  • the second embodiment differs from the first embodiment in that the spring assistance lever 20, balljoints 21 A & B, spring hanger 22, extension spring 23, spring support frame 24 and adjustable spring hanger 25 are not present. Furthermore the linear actuators 26 A & B and the attached balljoints 27 A, B, C & D do not act directly between the base 10 and motion table 12.
  • the actuators and balljoints are mounted horizontally, front to back, within the base, one on either side thereof, with the outer end of the actuators' outer sections attached to the base via balljoints 26 C & D at the back comers of the base.
  • Attached towards the front corners of the base side panels are stub axles 28 A & B upon which are mounted bellcranks 29 A & B via roller bearings 30 A & B so that the bellcranks may rotate about the stub axles in an axis running transversely across the base.
  • the bellcranks 29 A & B each have three outer attachment points positioned 90 degrees apart from each other about their axis of rotation.
  • extension springs 32 A & B Attached to the rear points of bellcranks 29 A & B are the front ends of extension springs 32 A & B via spring hangers 33 A & B.
  • the rear ends of extension springs 32 A & B are attached to the base side panels via adjustable spring hangers 34 A & B at a point whereby at the bellcranks' mean, central position, the axis of each bellcrank's rotation, its rear attachment point and the attacment point of the adjustable spring hangers 34 A & B to the base side panels are inline.
  • the distances between the attachment points of the bellcranks and their axis of rotation, the distances between the axes of pitch and roll of the motion table and the attachment points of the upper ends of the drop links, the distance between the mounting points of the adjustable spring hangers 34 A & B and the axis of rotation of the bellcranks and the rate and pre-load of the springs are calculated based upon the weight of the payload, the vertical position of its CoG relative to the main joint centre, the available force and movement extents from the actuators and the required extents of pitch and roll displacement of the motion table relative to the base in order to provide the closest oposition of moments in the bellcranks due to payload CoG displacement from above the main joint centre and due to the action of the springs across the desired pitch and roll range.
  • the extension springs 32 A & B are equally pre-loaded by adjusting the length of the adjustable spring hangers 34 A & B respectively based upon the weight of the payload and the vertical position of its CoG.
  • both droplinks and both bellcranks are at their mean, central positions. Both the extension springs exert their pre-load force upon the bellcranks inline with their axes of rotation and so exert no moment upon the bellcranks.
  • both bellcranks rotate about their axes as the pitch displacement of the motion table increases and the connecting droplinks move.
  • the moment about the main joint centre due to the displacement of the payload CoG from directly above it increases.
  • This moment is translated into equal force in either drop link and, in turn, to equal moments in either bellcranks about their axes of rotation, tending to rotate them away from their mean central position.
  • the springs' preload forces no longer act inline with the bellcranks' rotational axes and so exert moments upon the bellcranks about their rotational axis which tend to rotate the bellcranks back toward their mean, central position.
  • the springs are made to extend, thus increasing in tension and therefore increasing the moment on the bellcranks.
  • the device may be optimally set for different payload weights and CoG vertical positions, allowing a wide range of payload configurations and weights to be borne whilst maintaining performance.
  • the motion platform with spring assistance allows for the use of smaller, cheaper and less power consumptive actuators for pitch and/or roll than have hitherto been required whilst allowing high angular displacement, velocity and acceleration performance.
  • Futhermore such a device may be more compact and cheaper to build than devices without spring assistance and does not require the proximal location of the centre of gravity of the payload with the axes of pitch and roll of the device's motion table in order to maintain performance.
  • movement of a very wide range of payload weights and configurations is allowed, even very heavy loads with high CoGs.
  • the payload of the motion simulation device may be different from that envisaged above.
  • the method of suspension of the payload may be quite different from how it has been described. It is not a requirement for functionality of the invention that the axes of pitch and roll intersect, that the actuators are linear types or are configured as described, or that the device operates in only the pitch and roll degrees of freedom.
  • the device and its components may be constructed with many different configurations and materials, in many different shapes and sizes.
  • a motion simulation device or sub-section thereof, allowing motion in pitch and or roll degrees of freedom, principally comprising a base 10 supporting a motion table 12 via a main joint 13 which allows relative pitch and roll movement between the two.
  • Two actuators 26 A & B provide motive power for controlled movement.
  • the motion table may support some payload to be moved and has rigidly attached to it an assistance lever 20 such that at a nominal point of zero angular displacement of the motion table, the 'centre position', a fixture point at the end of the lever, below the motion table, lies on a notional 'Z-axis' which intersects, and is perpendicular to, the axes of pitch and roll.
  • Attached to said fixture point is one end of an extension spring 23, the other end being attached to a point on the base structure which, at centre position, lies on said Z-axis below the assistance lever's spring fixture point.
  • the spring is pre-loaded and thus opposes angular displacement of the motion table in both pitch and roll by exerting a moment about these axes when the lever's spring fixture is forced off the Z-axis by such displacement.
  • the payload is mounted to the table such that its centre of gravity is directly above the pitch and roll axes. With device geometry and spring rate and pre-load correctly calculated the resistance to angular displacement may be made to closely match the moment about the pitch and roll axes due to the displacement of the payload's centre of gravity from directly above them.
  • the actuators are almost completely isolated from the forces due to gravity acting on the payload and are almost wholly concerned with moving the payload, not supporting it.
  • low powered actuators may be used to move large payloads with high centres of gravity over large angular displacements with maximal speed and acceleration, allowing for the cost and power efficient production of high performance motion simulation devices.

Abstract

L'invention concerne un dispositif de simulation de mouvements permettant des mouvements à l'intérieur de degrés de liberté de tangage et de roulis. Une base (10) soutient une table de mouvement (12) sur laquelle est monté un siège (15). La table est soutenue sur la base par un joint principal (13). Des actionneurs linéaires (26 A & B) fournissent une force motrice qui assure un mouvement commandé du siège. La table de mouvement est munie d'un levier d'assistance (20) fixé rigidement sur cette dernière de telle manière qu'à un point nominal de zéro déplacement angulaire de la table de mouvement - la position centrale - un point de fixation à l'extrémité du levier, sous la table de mouvement, se trouve sur un axe vertical théorique qui est en intersection avec et perpendiculaire aux axes de tangage et de roulis. Une extrémité d'un ressort d'extension (23) est attachée au point de fixation, l'autre extrémité étant attachée à un point de la structure de base qui, en position centrale, se trouve sur l'axe vertical sous le point de fixation du ressort du levier d'assistance.
PCT/GB2010/002300 2009-11-25 2010-12-20 Simulateur de mouvements WO2011064560A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
GB0920638.4 2009-11-25
GB0920638A GB2476229B (en) 2009-11-25 2009-11-25 Motion simulator
US26437510P 2010-01-12 2010-01-12
US61/264,375 2010-01-12

Publications (1)

Publication Number Publication Date
WO2011064560A1 true WO2011064560A1 (fr) 2011-06-03

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PCT/GB2010/002300 WO2011064560A1 (fr) 2009-11-25 2010-12-20 Simulateur de mouvements

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GB (1) GB2476229B (fr)
WO (1) WO2011064560A1 (fr)

Cited By (11)

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WO2015080759A1 (fr) * 2013-11-27 2015-06-04 Dymanic Motion Group Gmbh Dispositif de commande de système de simulation de mouvement et procédés associés
US9242181B2 (en) 2012-12-03 2016-01-26 Dynamic Motion Group Gmbh Amusement park elevator drop ride system and associated methods
US9259657B2 (en) 2012-12-03 2016-02-16 Dynamic Motion Group Gmbh Motion simulation system and associated methods
US9536446B2 (en) 2012-12-03 2017-01-03 Dynamic Motion Group Gmbh Motion simulation system controller and associated methods
EP3155605A4 (fr) * 2014-06-10 2018-01-31 Oceaneering International, Inc. Base à mouvement compensé
IT201700115001A1 (it) * 2017-10-12 2019-04-12 Stefano Vezzosi Apparecchiatura per il controllo dei movimenti di una piattaforma oscillante.
WO2021035070A1 (fr) * 2019-08-21 2021-02-25 Universal City Studios Llc Systèmes et procédés de commande de resistance pour manèges de parc d'attractions
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EP4108305A1 (fr) * 2021-06-26 2022-12-28 Brogent Technologies, Inc. Appareil de simulation de mouvement

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