WO2019069077A1 - Dispositif de mouvement - Google Patents

Dispositif de mouvement Download PDF

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Publication number
WO2019069077A1
WO2019069077A1 PCT/GB2018/052825 GB2018052825W WO2019069077A1 WO 2019069077 A1 WO2019069077 A1 WO 2019069077A1 GB 2018052825 W GB2018052825 W GB 2018052825W WO 2019069077 A1 WO2019069077 A1 WO 2019069077A1
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WO
WIPO (PCT)
Prior art keywords
load
support
drive element
motion
elastic support
Prior art date
Application number
PCT/GB2018/052825
Other languages
English (en)
Inventor
Anthony Richard Glover
Andrew ODHAMS
Michael Owen SEXTON
Steven BRAYSHER
Original Assignee
Mclaren Applied Technologies 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 Mclaren Applied Technologies Limited filed Critical Mclaren Applied Technologies Limited
Publication of WO2019069077A1 publication Critical patent/WO2019069077A1/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
    • G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
    • 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
    • G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
    • G09B9/048—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles a model being viewed and manoeuvred from a remote point

Definitions

  • This invention relates to a motion arrangement for moving a load.
  • the motion arrangement may support a load.
  • the motion arrangement may be especially suitable for use for a motion simulator, particularly a land vehicle motion simulator.
  • Motion simulators are widely used for simulating the motion of vehicles for training purposes and in games installations.
  • a position for an occupant is mounted on a movable platform, and the platform is moved, usually by pistons that are mounted to it, to simulate the motion of the vehicle.
  • a simple pivoting arrangement can be used to mount the platform.
  • the platform is normally mounted on a Stuart platform or hexapod.
  • the Stuart platform has a platform which is connected to a base by six hydraulic or electromechanical pistons.
  • the pistons are pivotally mounted to the base and to the platform.
  • the occupant position is fixed on the platform.
  • the pistons are operated in order to move the platform in three dimensions. Since there are six pistons the platform can be moved in six degrees of freedom, thereby offering realistic simulation.
  • the Stuart platform is well suited for simulating aircraft motion because it allows substantial movement of the platform in three dimensions.
  • the base is mounted at ground level, so in order to simulate substantial horizontal motion the platform, with the occupant on it, must be lifted some distance off the ground. This is inconvenient for the occupant. It also means that a large volume of space around the simulator must be available in order to allow the simulator to move freely over its full spatial operating envelope.
  • the load could be supported on six or more rigid rods. At their upper ends the rods are attached to the load by flexible joints. At their lower ends each rod is attached by a spherical joint to a respective sled which runs on one of three horizontal tracks. The tracks are arranged spaced apart but parallel. By moving the sleds on the tracks the load can be moved with six degrees of freedom.
  • a simulator platform is supported on rocker mechanisms.
  • Each rocker mechanism comprises a rocker arm slidably linked to the side of the platform.
  • the base of the rocker arm is mounted on a first sled which can move the base of the arm along a linear track.
  • a connecting rod extends between the upper end of the rocker arm and a second sled also movable on the track.
  • the attachment point between the platform and each rocker arm can be moved vertically and in one horizontal direction by means of the sleds. Coordinated operation of all the rocker mechanisms is used to manipulate the simulator platform as required.
  • This arrangement has some advantages over other structures described above, but has some drawbacks.
  • the rocker mechanisms must be large if the system is to impose larger amounts of vertical travel, as is required if the system is to simulate the motion of conventional road cars.
  • a motion arrangement for moving a load with six degrees of freedom comprising: a first support coupled to the load for at least partially supporting the load, the first support being rotatably mounted on a first moveable drive element; an intermediate link extending between the first support and a second moveable drive element, the intermediate link element being mounted on the second drive element and the second drive element being capable of driving relative to the first drive element so as to cause the intermediate link to alter the attitude of the first support; and an elastic support coupled to the first support for exerting an upwards force on the load via the first support, the elastic support being mounted so that the rate of deflection of the elastic support with vertical motion of the portion of the load to which the first support is coupled reduces with increasing deformation of the elastic support from its neutral position.
  • the said deformation is compression.
  • the said vertical motion is downward vertical motion.
  • the motion arrangement may be configured so that as the load is lowered a reduction in mechanical advantage of the elastic support over the load counteracts increased force developed by the elastic support.
  • the rate of deflection of the elastic support with vertical motion of the portion of the load to which the first support is coupled may reduce with increasing downwards motion of that portion of the load.
  • the said rate may be the ratio of the distance by which the elastic support is deflected to the distance moved vertically by the said portion of the load.
  • the elastic support may be a spring, for example a gas spring.
  • the gas spring may be pre-loaded with a gas pressure such that the load is held substantially at the mid- point of its operational travel without force being applied by the first or second drive elements.
  • the elastic support may be mounted so that, without adjustment of the elastic support, the upwards force applied to the load by the elastic support is substantially constant throughout the vertical operating range of the load.
  • the elastic support may extend between a first location at which it is coupled to the first support and a second location at which it is coupled to the first drive element.
  • the first and second locations may be spaced from the location where the first support is mounted to the first drive element.
  • the second location may be inboard of the location where the first support is mounted to the first drive element.
  • the elastic support may be rotatably coupled to the first support at the first location.
  • the elastic support may comprise a first mount coupled at the first location to the first support, a second mount coupled at the second location to the first drive element and a flexible elastic element extending between the first and second mounting regions.
  • the motion arrangement may comprise an alignment mechanism configured to maintain alignment between the first and second mounts by causing the first mount to rotate relative to the first support as the first support rotates relative to first drive element.
  • the alignment mechanism may be a four-bar linkage.
  • the alignment mechanism may comprise a first link fast with the first support and extending on the opposite side of the first location to the first support, and a second link rotatably mounted to the first link and to the first drive element.
  • the second support may be rotatably mounted on a third moveable drive element.
  • the motion arrangement may be configured so as the load is lowered a reduction in mechanical advantage of the second elastic support counteracts the increased force in the second elastic support.
  • Each drive element may be a linearly acting drive element.
  • Each drive element may be a linear motor.
  • the first, second, third and fourth drive elements may operate on a common motion axis.
  • a motion arrangement for moving a load with six degrees of freedom comprising: first, second and third primary link elements, each primary link element being (i) rotatably attached to a respective linearly movable driver element and (ii) slidably and rotatably attached to the load; a first intermediate link element attached to the first primary link element and to a fourth linearly movable drive element; a second intermediate link element attached to the second primary link element and to a fifth linearly movable drive element; the first intermediate link element being attached to the first primary link element at a location between the locations where the first primary link element is attached to its respective driver element and to the load, and the second intermediate link element being attached to the second primary link element at a location between the locations where the second primary link element is attached to its respective driver element and to the load; and comprising an elastic support acting between one of the first, second and third primary link elements and the drive element to which that one of the link elements is attached, for at least partially supporting the load, the elastic
  • the motion arrangement may comprise a third intermediate link element attached to the third primary link element and to a sixth linearly movable drive element, the third intermediate link element being attached to the third primary link element at a location between the locations where the third primary link element is attached to its respective driver element and to the load.
  • the driver elements may be sleds driveable relative to a base.
  • the motion arrangement may comprise a fourth primary link element, the fourth primary link element being (i) rotatably attached to a respective linearly movable driver element and (ii) slidably and rotatably attached to the load.
  • the locations at which the first, second and third primary links are coupled to the load may be non-collinear.
  • Such means may be slidable couplings between each primary link element and the load.
  • the linearly movable driver elements may be configured for exclusively linear motion.
  • the linearly movable drivable elements may each be drivable only along a single linear path. Those paths may be coplanar. Those paths may be parallel.
  • the first and second drivable elements may be drivable along a common path. That/those paths may be parallel with the paths along which the first to third drivable elements are drivable.
  • the first and second drivable elements may be drivable by a common linear motor.
  • the fourth and/or fifth drivable elements may be drivable along/by the same path/motor.
  • the third drivable element may be drivable along a path orthogonal to that along which the first and second drivable elements are drivable.
  • the first primary link element may be slidably attached to the load such that the load can translate with respect to the first primary link element along a first axis.
  • the second primary link element may be slidably attached to the load such that the load can translate with respect to the second primary link element along a second axis.
  • the first and second axes may be convergent.
  • the first and second axes may be coplanar.
  • the driver elements of the first, second and third primary link elements may be linearly movable in a common plane.
  • Each intermediate link element may be attached by a revolute joint to its respective primary link element.
  • One or more primary link elements may be attached to the load at an attachment joint, and at least one intermediate link may be attached to its respective primary link element by the attachment joint.
  • the attachment joint may be a respective spherically mobile joint to attach the respective primary link element to the load.
  • Two, three or four of the connector struts may be coupled to respective secondary sleds by further connector struts, each further connector strut being attached to its connector strut by a revolute or spherical joint and to a respective secondary sled by a revolute or spherical joint.
  • One or two of the connector struts may be not provided with such a further connector strut.
  • the sleds may be arranged so that the primary and secondary sleds serving a particular connector strut are constrained to slide along a common motion axis, for example defined by a single rail.
  • the load may include a cockpit for an occupant of the simulator.
  • Figure 1 shows a movable load platform for a simulator.
  • Figure 2 shows in detail the joint between a wishbone and the load platform of figure 1 .
  • Figure 3 shows the platform of figure 1 arranged to perform as a land vehicle simulator.
  • Figure 4 illustrates a control system for the simulator of figure 3.
  • Figure 5 shows an elastic support mechanism.
  • figure 1 shows a load platform 1 for a simulator together with an arrangement for supporting and moving the platform.
  • the load platform is generally trapezoidal in this example, but need not be.
  • the load platform may be generally diamond-shaped and/or rhombus-shaped.
  • the side edges 14, 15 of the load platform may be curved along at least part of their length.
  • the side edges 14, 15 of the load platform are convergent.
  • the side edges are co-planar in this example, but need not be.
  • the end of the platform where the side edges are further apart will be termed the rear of the platform, and the opposite end the front.
  • the load platform may be generally shaped as two trapezoids joined together at one of their parallel sides.
  • Such a load platform may be a six-sided polygon.
  • the side edges 14, 15 may be convergent with each other at each of their ends.
  • the angle at which the side edges 14, 15 are convergent with each other at each of their ends may be different.
  • the tracks are linear, co- planar and parallel.
  • the sleds 8-13 run on the tracks, and are arranged so that they can each independently be driven to a desired position on their track in order to control the position of the load platform.
  • the tracks can conveniently incorporate magnetways of linear motors, which interact with the sleds to move the sleds.
  • the sleds could be driven in other ways.
  • the tracks could comprise racks and the sleds could comprise motors and pinions which engage the racks and which are driven by the motors to move the sleds; alternatively the sleds could be moved along the tracks by threaded worms or lead screws; alternatively the sleds could be moved hydraulically.
  • each sled By virtue of running on a respective one of the tracks each sled is constrained to follow the path of that track; in this example to move along the linear path defined by that track.
  • the tracks 2, 3 are disposed generally transversely to the side edges 14, 15 of the load platform 1 .
  • Each wishbone is arranged so that at its upper end it has a single attachment point to the load platform; and at its lower end, where it is broader than at the upper end, it has two attachment points to a respective sled.
  • the attachment structure at the upper end of the wishbones will be discussed in detail below with reference to figure 2.
  • the attachment points to the respective sled constitute a common revolute joint between the wishbone and the sled.
  • the revolute joints between the wishbones and the sleds are designated 20, 21 , 22, 23 in figure 1 .
  • the axis of each of those revolute joints is perpendicular to the track on which the respective sled runs.
  • Two of the wishbones (4, 5) run on one of the tracks (2), and two of the wishbones (6, 7) run on the other track (3).
  • One wishbone running on each track is attached to each of the sides 14, 15 of the load platform.
  • the upper ends of wishbones 4, 6, which run on different ones of the tracks, are both attached to side 14; and the upper ends of wishbones 5, 7, which also run on different ones of the tracks are both attached to side 15.
  • the intermediate links 24, 25 are rigid and extend between respective ones of the wishbones and further sleds 9, 10. Intermediate link 24 extends between wishbone 4 and sled 9. Intermediate link 25 extends between wishbone 5 and sled 10.
  • the sled of each intermediate link runs on the same track as the sled of the wishbone to which it is attached, but it could run on another track, which need not be a track on which the sled of any wishbone runs.
  • the sled of each intermediate link is arranged inboard of the sled of the wishbone to which it is attached, but it could be arranged outboard.
  • each intermediate link is attached flexibly to its sled by a joint 26, 27. This may be a spherical joint or a revolute joint whose axis is perpendicular to the axis of the track on which the sled of that intermediate link runs.
  • Each intermediate link is attached flexibly to its wishbone by a joint 28, 29. This may be a spherical joint or a revolute joint whose axis is perpendicular to the axis of the track on which the sled of that intermediate link runs. Whilst joints 28, 29 are shown being attached to respective wishbone 4, 5, it will be appreciated that one or more of joints 28, 29 may be attached to respective runner 31 associated with its respective wishbone 4, 5.
  • the linear motors for the front sleds could have common magnetways.
  • the individual linear motors for moving each front sled would then be defined electrically in operation of the motors. The same could be done for the rear sleds.
  • FIG. 2 shows in more detail the mechanism by which wishbone 4 is attached to the side 14 of the load platform 1 .
  • the attachments between the other wishbones and the rails are analogous.
  • a linear rail 30 is disposed along the side 14 of the load platform.
  • a runner 31 which can slide along the rail 30.
  • the runner may comprise a bearing race to permit it to move freely along the rail.
  • the runner 31 is attached to the wishbone 4 by spherical joint 16.
  • Joint 16 could be a Cardan joint or of another form.
  • the other wishbones are attached to respective runners by respective spherical joints 17-19.
  • a similar rail extends along the opposite side 15 of the platform 1 .
  • Joint 28 and/or join 29 may be attached to the respective runner 31 of wishbone 4, 5.
  • the rails (e.g. rail 30) along the sides of the platform are non-parallel. They are closer together where they pass over one of the tracks (3) than where they pass over the other of the tracks (2).
  • Figure 1 shows the runners of the wishbones on each side of the load being connected to a common rail (e.g. 30). There could be additional rails, and the runners of the wishbones on each side could be connected to different rails.
  • the rails to which the wishbones on each side of the load are connected could be parallel or could be angularly offset from one another.
  • the positions of the sleds 8-13 are independently controllable by a controller 50. (See figure 4).
  • the position of the platform 1 is fixed both translationally and rotationally.
  • the platform 1 can be controlled in six degrees of freedom. For example, with the axes defined as shown in figure 1 motions can be obtained as follows:
  • Roll (rotation about the X) axis).
  • Roll can be achieved by moving the sleds that bear the wishbones on one side of the platform (e.g. sleds 8, 12) in a common direction whilst moving a sled (e.g. sled 9) that bears one of the intermediate links so as to alter the inclination of the wishbone to which it is attached.
  • a sled e.g. sled 9
  • Pitch (rotation about the Y axis). Pitch can be achieved by moving the sleds 9, 10 that bear the intermediate links so as to alter the inclination of the wishbones to which they are attached.
  • Yaw can be achieved by moving the forward sleds 12, 13 in one direction and the rear sleds 8-1 1 in the opposite direction.
  • the individual motions described above can be combined to give composite motions of the platform.
  • the intermediate links may be attached to other ones of the wishbones, in which case the behaviours described above can be adapted accordingly.
  • FIG. 4 shows a control system for the simulator.
  • the control system comprises a controller 50 having a processor 51 and a memory 52.
  • the memory stores in a non- transient way:
  • code 53 that is executable by the processor to enable the controller to control the motion of the platform in the desired way
  • environment data 54 which defines the environment that is to be simulated: for example the layout of a track, the appearance of the track and its surrounding scenery and the performance characteristics of the track such as its heights, grip levels and cambers;
  • performance data 55 which defines the performance characteristics of the vehicle being simulated, for example its acceleration and deceleration rates, its roll and grip characteristics and the noises it makes.
  • one or more actuators could be added to drive the surge axis more directly.
  • this could be achieved by mounting one or more linear motor magnetways on the platform, parallel to the platform rails.
  • the slider of each motor would be attached to one of the brackets (e.g. 31 ) on the distal ends of the wishbones.
  • a movable counter-weight could be attached to the mechanism (e.g. to the load or to the distal ends of the wishbones).
  • the counter-weight is arranged to be driven in the opposite direction to the principal load in surge.
  • Each secondary sled is linearly movable and is flexibly attached to a respective secondary support strut which is in turn flexibly attached to a respective one of the primary support struts at a point intermediate between its connection to its primary sled and to the load.
  • Each secondary strut may be attached by a revolute joint to its sled and by another revolute joint to its primary strut.
  • the secondary struts are rigid, and preferably attached at their opposite ends to the sleds and the primary struts.
  • the sleds of each pair of an interattached primary and secondary strut may be movable linearly along parallel axes, and optionally collinearly.
  • Two of the primary sleds may be attached to the side rails of the load so as to oppose each other for forcing the load to move in surge.
  • the remaining primary strut may be attached centrally to the load, for example by a single rail running along the centreline of the side-rails by which the other wishbones are attached to the load, or by one of those other side-rails, or by a side-rail at a different angle to those other side-rails.
  • supports 4 and 5 are driven by primary sleds 8, 1 1 and secondary sleds 9, 10, whereas supports 6 and 7 are driven only by primary sleds 12, 13.
  • supports 6, 7 could be driven by a primary and a secondary sled. This could give greater control authority, particularly over jacking motion in Z of the end of the sled at which supports 4 and 5 are attached.
  • a further alternative is for only one of the sleds 8, 1 1 at a first end of the sled to be driven by a secondary sled, and for only one of the sleds 12, 13 at the other end of the sled to be driven by a secondary sled.
  • a secondary sled is coupled to the respective support by a rigid element that can pivot with respect to the sled and the support, as with elements 24, 25 in the example of figure 1 .
  • a secondary sled and additional connector element connecting that sled to the respective support 4 5, 6, 7, other mechanisms could be used to constrain the inclination of the support relative to the sled.
  • a rotational drive could be implemented at the rotational joint between the support and its primary sled.
  • the present structure is arranged to provide a compact mechanism for driving the motion platform with principal motions in the X and Y axes.
  • the present structure allows substantial forces in the X and Y directions to be imparted without requiring the platform to be far above the base. This makes it significantly more convenient for the occupant to enter the chassis.
  • the platform rails and especially the base rails can straightforwardly be made relatively long, allowing relatively large displacements to be imparted in the horizontal plane. For many road vehicles the greatest potential forces are in the surge and sway directions, which correspond to cornering and straight-line acceleration and braking.
  • the chassis is mounted relative to the platform rails and the base rails so that the sway and surge axes are in a plane parallel to all those rails.
  • the surge axis is preferably parallel to the forward axis of the chassis and the sway axis is preferably perpendicular to the forward axis and the upward axis of the chassis.
  • the forward and upward axes of the chassis will typically be defined by reference to an occupant/operator position in the chassis. Where the occupant position has a seat the forward axis is typically the forward-facing direction of the seat.
  • the highest potential for force may often be in the sway axis since higher forces may often be expected during cornering than in straight-linear acceleration and braking. Therefore, it is most preferred that the sway axis is parallel to the base rails. This implies that the forward orientation of the chassis is perpendicular to the base rails.
  • the sled motors would only need to provide drive to accommodate the dynamic load requirements of the system, and the static load requirements would be met by one or more elastic mechanisms such as that shown in figure 5, provided on one or more of the supports 4 to 7.
  • elastic mechanisms such as that shown in figure 5, provided on one or more of the supports 4 to 7.
  • such elastic mechanisms are provided on all four of the supports 4 to 7.
  • Spring 70 may conveniently be a gas spring, for example an air spring.
  • the spring may comprise a deformable bladder 77 located between end cups 79, 80 which constitute lower and upper ends respectively of the spring.
  • the end cups may conveniently be flexible. They may conveniently be continuations of the rubber bladder.
  • An upper section of each cup may be rolled onto the cylindrical metal pedestal.
  • a lower section of each cup may be fixed to the lower end of the spring and may bear against a plate.
  • the end cups 79, 80 are fixed to point 71 and joint 72 respectively.
  • the wall of the bladder may be elastic or inelastic.
  • the bladder may be filled with a gas such as air. The gas may be at greater than atmospheric pressure.
  • the pre-load may be set so that with no force applied to the sled drives the payload sits substantially horizontal and in the mid-range of its vertical travel.
  • the gas pressure in the spring is adjusted during operation in dependence on the weight of the payload and also the expected height to which the payload will be held over the forthcoming time period.
  • the control of the gas pressure may be done to a longer timebase (i.e. at a lower frequency/bandwidth) than the control of the sled drives.
  • the spring 70 may be an elastic device other than an air spring.
  • it could be a coil spring a leaf spring or a body of elastomeric material. It could be formed of a combination of such devices.
  • it could comprise multiple air springs or a combination of an air spring and a coil spring.
  • Figure 5 illustrates a spring applied to wishbone support 4.
  • An analogous spring could be applied in an analogous way to any one or more of supports 4 to 7 in any combination.
  • the lower end of spring 70 is mounted to the sled 8.
  • the lower end could alternatively be mounted to another sled. That other sled could be controlled to move with sled 8 or independently of it.
  • the platform 1 need not be trapezoidal: for instance the platform rails (e.g. 30) could be attached in their tapering configuration to the underside of a square plate. Alternatively, the platform could be omitted and platform rails could be attached directly to the chassis.
  • each wishbone is shown as being of bifurcated form.
  • the equivalent link could be provided by a single strut, or the wishbones could be arranged with their bifurcated ends coupled to the load. In these latter cases the respective elements could be coupled by spherical joints to the sleds and by revolute joints to the load.
  • each wishbone can be constituted by a fully or partially rigid element.
  • One or more of the intermediate links could have spherical joints at its connection to the respective sled and/or its connection to the respective primary link / wishbone.
  • the primary links / wishbones and the intermediate links could be rigid. Alternatively any of those links could be flexible and/or elastic, for example a spring cantilever.
  • the simulator could be configured for simulating a vehicle, such as a road vehicle.
  • Additional means for supporting the load could be provided, for example an elastic element such as a spring or a driven element such as a hydraulic piston.
  • Such means could be provided under the load and extending between the load and a base, or above the load and extending between the load and an upper support structure such as a gantry or ceiling.
  • Such means could be mounted to the load and/or the base or upper support in such a way that it can accommodate lateral motion of the load with respect to the base or support.

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Abstract

L'invention concerne un dispositif de mouvement pour déplacer une charge avec six degrés de liberté, le dispositif de mouvement comprenant : un premier support couplé à la charge pour supporter au moins partiellement la charge, le premier support étant monté rotatif sur un premier élément d'entraînement mobile ; une liaison intermédiaire s'étendant entre le premier support et un second élément d'entraînement mobile, l'élément de liaison intermédiaire étant monté sur le second élément d'entraînement et le second élément d'entraînement étant d'entraîner par rapport au premier élément d'entraînement de façon à amener la liaison intermédiaire à modifier l'attitude du premier support ; et un support élastique couplé au premier support pour exercer une force vers le haut sur la charge par l'intermédiaire du premier support, le support élastique étant monté de telle sorte que la vitesse de déformation du support élastique avec un mouvement vertical de la partie de la charge à laquelle le premier support est couplé diminue avec l'augmentation de la déformation du support élastique à partir de sa position neutre.
PCT/GB2018/052825 2017-10-04 2018-10-04 Dispositif de mouvement WO2019069077A1 (fr)

Applications Claiming Priority (2)

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GB1716197.7 2017-10-04
GB1716197.7A GB2567174B (en) 2017-10-04 2017-10-04 Motion arrangement

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WO2019069077A1 true WO2019069077A1 (fr) 2019-04-11

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US11273602B2 (en) * 2018-08-10 2022-03-15 Peter Jan Wiktor Coupled positioners

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GB2602350B (en) * 2020-12-24 2023-12-13 Ansible Motion Ltd Motion platform apparatus and method of displacing a payload platform
DE102021122762B3 (de) 2021-09-02 2023-01-26 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Anordnung und Fahrsimulationsvorrichtung

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