Motion simulation device

Abstract

A motion simulation device includes a motion platform. A carrier for carrying a user is mounted on the motion platform. The device has a drive arm, the drive arm having a lower end and an upper end, the lower end being pivotally mounted on a base plate to pivot with two degrees of freedom of motion relative to the base plate, and the upper end being pivotally connected to the motion platform to pivot with two degrees of freedom of motion relative to the motion platform. The device has two guide arms, each of which has a lower end and an upper end, the lower end being pivotally mounted on the base plate to pivot with three degrees of freedom of motion relative to the base plate, and the upper end being pivotally connected to the motion platform to pivot with three degrees of freedom of motion relative to the motion platform. The drive arm, the guide arm, and the motion platform define a dynamic frame that can pivot relative to the base plate, so that the resultant motion of the motion platform can be transmitted to the carrier.

Description

Field of the Invention

[0001] Various embodiments of a motion simulation device are described herein. Background Art

[0002] Motion simulation needs to produce in a person the effect or feeling of being in a moving vehicle. To describe the different types of motion, we can make use of a Cartesian coordinate system, where the point (0; 0; 0) is at the center of gravity of the vehicle. The x-axis extends along the linear acceleration and deceleration line between the front and rear of the vehicle, the y-axis is at right angles to the x-axis and extends from one side of the vehicle to the other, and the z-axis is at right angles to both the x-axis and the y-axis. Therefore, we can define the different types of motion of a vehicle as follows:

[0003] "Pitch" is the amount of rotation around the y-axis.

[0004] "Roll" is the amount of rotation around the x-axis.

[0005] "Yaw" is the amount of rotation about the z-axis.

[0006] "Surge" is an acceleration or deceleration along the x-axis.

[0007] "Sway" is the acceleration or deceleration along the y-axis.

[0008] "Heave" is the acceleration or deceleration along the z-axis.

[0009] These are the six types of motion of a vehicle. It should be understood that all motion of a vehicle can be described using one or more of these degrees of motion. For example, turning is usually a combination of sway, yaw, and possibly roll. Braking or accelerating is usually a combination of pitch and surge.

[0010] It should be understood that it is difficult to simulate at least the surge and sway of a linear motion element because the motion simulation platform is not configured for continuous linear motion.

[0011] Typically, surge can be simulated using one of two techniques:

[0012] Accelerates the simulator in the direction of simulated motion, in other words, produces linear acceleration.

[0013] Pitching the simulator away from the vertical axis (z-axis) allows the user to perceive the resulting change in direction relative to gravity as an acceleration or deceleration along the x-axis in the direction opposite to the pitch direction.

[0014] Many entry-level motion simulators use a two-degree-of-freedom (2DOF) model that is pivoted and located below the motion simulator seat. Such simulators are only capable of generating pitch to simulate acceleration and braking, and roll to simulate the centrifugal forces experienced during cornering.

[0015] Such simulators have limitations in their ability to produce realistic motion. For example, pitching to simulate acceleration will often result in a detectable virtual deceleration. Orienting the seat for any virtual acceleration requires acceleration in the opposite direction to achieve the target orientation. This opposite acceleration is often detectable. Furthermore, using such simulators, it is difficult to produce yaw and roll when simulating turns. Therefore, the simulator only produces roll, which is more easily perceived as a pitch than a turn.

[0016] One problem with this type of simulator is that the greater the range of motion, the less realistic it becomes. This seems to be why simulators of this type, aimed at the professional market, have not made as much progress.

[0017] Stewart Platform https: / / en.wikipedia.org / wiki / Stewart_platform ) is an attempt to achieve realistic motion simulation. Such platforms are currently used in high-end flight simulation, machine tool technology, crane technology and various other applications.

[0018] The Stewart platform includes six prismatic actuators, such as hydraulic jacks or electric actuators, mounted in pairs at three locations on the base of the platform. Thus, equipment placed on the top plate can undergo the six types of motion described above.

[0019] Such platforms can be expensive and bulky. For example, in a gaming device such as one that simulates vehicle motion, the actuators are located under the seat. Furthermore, the use of six actuators adds a significant expense to the platform, making it generally unusable for use in the gaming industry. Summary of the invention

[0020] According to a first aspect of the present invention, there is provided a motion simulation device, comprising:

[0021] Sports platform;

[0022] A carrier for carrying a user, the carrier being mounted on the motion platform;

[0023] a drive arm having a fixed end pivotally mounted on the base plate for pivoting with two degrees of freedom of motion relative to the base plate and a working end pivotally connected to the motion platform for pivoting with two degrees of freedom of motion relative to the motion platform; and

[0024] Two guide arms, each guide arm having a lower end and an upper end, the lower end being pivotally mounted on the base plate to rotate with three degrees of freedom relative to the base plate, the upper end being pivotally connected to the motion platform to rotate with three degrees of freedom relative to the motion platform, the drive arm, the guide arm and the motion platform defining a dynamic frame that can pivot relative to the base plate so that the resultant motion of the motion platform can be transmitted to the carrier.

[0025] The drive arm and the guide arm may be angled toward each other from the base plate to the motion platform such that the longitudinal axes of the arms intersect at a virtual pivot point, wherein the motion platform is interposed between the base plate and the virtual pivot point.

[0026] The drive arm may be positioned forwardly relative to the guide arm.

[0027] The respective planes in which the working and fixed ends of the arms lie may be angularly offset relative to one another such that pivoting of the dynamic frame causes the drive arm to impart rotation to the motion platform as the drive arm pivots to accommodate the angular offset of the respective planes.

[0028] The motion simulation device may include two actuators, each actuator having a linear fixed end and a working end, the linear fixed end being pivotally mounted to the base plate to pivot with two rotational degrees of freedom relative to the base plate, the working end being pivotally mounted to the carrier with three rotational degrees of freedom, the arm being interposed between the actuators.

[0029] The actuators may converge toward each other from their fixed ends to their working ends.

[0030] The guide arms may have substantially the same length.

[0031] The motion simulation device may include a base assembly, and the carrier includes a seat assembly disposed above the base assembly, the seat assembly having a seat support and a back support.

[0032] The motion platform may include a hub secured to the head region of the back support, the drive arm being in the form of a drive shaft having an operable upper connector and an operable lower connector, the upper connector engaging with a complementary connector of the hub to provide an upper joint that limits movement of the hub relative to the drive shaft to two rotational degrees of freedom, and the lower connector engaging with a complementary connector of the base assembly to provide a lower joint that limits movement of the drive shaft relative to the base assembly to two rotational degrees of freedom.

[0033] The two guide arms can be in the form of two guide struts, each guide strut is located on a respective side of the drive shaft and has an operable upper connector and an operable lower connector, the upper connector engages with a complementary connector of the hub to provide an upper joint allowing the hub to rotate with three degrees of freedom relative to each guide strut, and each lower connector engages with a complementary connector of the base assembly to provide a lower joint allowing the hub to rotate with three degrees of freedom relative to each strut relative to the base assembly.

[0034] The apparatus may include two linear actuators, each interconnecting the base assembly and the seat assembly, the actuators being located on respective sides of an operative vertical plane in which the drive shaft lies when the drive shaft is tilted neither to the left nor to the right.

[0035] The upper and lower joints of the drive shaft and guide struts may lie generally in corresponding planes to define a dynamic frame that may pivot relative to the base assembly so that the resultant motion of the hub may be transmitted to the seat assembly.

[0036] The configuration of the base assembly may be adjustable to vary the relative angular orientation of the base assembly and the hub such that pivoting of the dynamic frame causes the drive shaft to impart rotation of the hub to simulate yaw.

[0037] The upper connector of the drive shaft and the complementary connector of the wheel hub may be provided by an upper universal joint, and the lower connector of the drive shaft and the complementary connector of the base assembly may be provided by a lower universal joint.

[0038] Each linear actuator may be connected to the base assembly at a fixed end via a joint that limits relative motion between the linear actuator and the base assembly to at least two rotational degrees of freedom, and connected to the seat assembly at a working end via a joint that limits relative motion between the linear actuator and the seat assembly to between two degrees of freedom and four degrees of freedom.

[0039] The apparatus may include a cabin floor positioned between the base assembly and the seat assembly.

[0040] A joint assembly configured to provide rotational motion with two degrees of freedom of motion is interposed between the seat support and the cabin floor, such that the seat assembly can rotate relative to the cabin floor with two degrees of freedom.

[0041] The motion simulation device may include two control strut assemblies, each control strut assembly interconnecting the drive shaft and the cabin floor with a joint on a respective side of the cabin floor, the joint allowing two rotational degrees of freedom and three translational degrees of freedom of movement between the drive shaft and the cabin floor, thereby limiting the rolling of the cabin floor.

[0042] The connector assembly may be interposed between the cabin floor and the base assembly. The connector assembly may be configured to facilitate pivotal movement of the cabin relative to the base assembly about an operable vertical axis located forward of the seat assembly. The connector assembly may include a pivot arm pivotally connected at one end to the base and pivotally connected at an opposite end to the cabin floor forward of the seat assembly. The connector assembly may include a linear bearing assembly interposed between the cabin floor and the base to facilitate fore-and-aft movement of the cabin floor relative to the base.

[0043] This arrangement satisfies the requirement of motion simulation that any action that produces an acceleration effect should position the simulator so that any subsequent acceleration is not affected by the action that precedes it to the point where the simulation is no longer convincing. This requirement has proven to be largely unachievable in the motion simulators mentioned in the background above.

[0044] The apparatus described herein can achieve the conversion from linear acceleration to virtual acceleration without generating detectable forces in the direction opposite to that being simulated. More specifically, the apparatus described herein is an arrangement in which a desired position or orientation of simulated acceleration may be reached in the direction of the desired "simulated" acceleration based on an initial linear acceleration of the current reference frame.

[0045] The upper and lower joints of the drive shaft and guide struts may be generally positioned in respective substantially parallel planes to define a dynamic frame in which the vertices are joined, the dynamic frame having opposing quadrilateral sides.

[0046] According to a second aspect of the present invention, there is provided a motion simulation device, comprising:

[0047] Base assembly;

[0048] a seat assembly disposed above the base assembly, the seat assembly having a seat support and a back support;

[0049] a hub secured to the head region of the back support;

[0050] a drive shaft having an upper operative connector and a lower operative connector, the upper connector engaging with a complementary connector of the hub to define an upper joint that limits movement of the hub relative to the drive shaft to two degrees of rotational freedom, and the lower connector engaging with a complementary connector of the base assembly to define a lower joint that limits movement of the drive shaft relative to the base assembly to two degrees of rotational freedom;

[0051] two guide posts, each guide post being located on a respective side of the drive shaft and having an upper operable connector and a lower operable connector, the upper connector engaging with a complementary connector of the hub to define an upper joint allowing rotational movement of the hub with three degrees of freedom of motion relative to each guide post, and each lower connector engaging with a complementary connector of the base assembly to define a lower joint allowing rotational movement of each guide post with three degrees of freedom of motion relative to the base assembly; and

[0052] Two linear actuators, the actuators being located on respective sides of the operative vertical plane in which the lower joint of the drive shaft lies, each linear actuator interconnecting the base assembly and the seat assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] For illustrative purposes, Figure 1 is a schematic diagram showing the motion produced by a single actuator and a single pivot arm.

[0054] For illustrative purposes, Figure 2is a schematic diagram showing the motion produced by a single actuator acting on two pivot arms that are interconnected at one end by a control arm.

[0055] Figure 3 is a schematic diagram of the dynamic frame of the motion simulation device viewed from above.

[0056] Figure 4 Observed from the front Figure 3 Schematic diagram of the dynamic framework.

[0057] Figure 5 It is a perspective view of the dynamic framework.

[0058] Figure 6 is a schematic diagram of a dynamic frame viewed from the side, illustrating the manner in which the yaw range produced by the dynamic frame is adjusted.

[0059] Figure 7 A three-dimensional view of the motion simulation device viewed from the right-hand side is shown.

[0060] Figure 8 A top view of the motion simulation device is shown.

[0061] Fig. 9 A bottom view of the motion simulation device is shown.

[0062] Fig.10 A rear view of the motion simulation device is shown.

[0063] Fig.11 A front view of the motion simulation device is shown.

[0064] Fig.12 A base assembly of a motion simulation device is shown.

[0065] Fig.13 A top view of the base assembly is shown.

[0066] Fig.13A is a detailed view of the yaw mount and associated components of the motion simulation device viewed from above.

[0067] Fig.14 A detailed view of a portion of the base assembly is shown, including the cabin swing arm and linear track assembly.

[0068] Fig.15 Shown is the drift drive mechanism of the motion simulation device viewed from below.

[0069] Fig.16 Shown is the drift drive mechanism of a motion simulation device viewed from above.

[0070] Fig.17A joint assembly for mounting a seat assembly of a motion simulation device is shown.

[0071] For the sake of clarity, Fig.18 A view from above is shown of the motion simulation device without the cockpit assembly and the seat assembly.

[0072] Fig.19 A cockpit assembly of a motion simulation device is shown.

[0073] Fig. 20 A detailed view of a portion of the rear of the motion simulation device is shown.

[0074] Fig.21 A detailed view of a portion of a wheel hub and associated drive shaft of a motion simulation device is shown.

[0075] Fig. 22 A detailed side view showing the rear of the motion simulation device.

[0076] Fig.23 A schematic diagram of the seat assembly, actuators and dynamic frame of the motion simulation device is shown.

[0077] Fig.24 A simplified view of the rear of the motion simulation device is shown.

[0078] Fig.25 A three-dimensional view of a motion simulation device is shown, exploded to illustrate various forms of motion.

[0079] Fig.26 Another three-dimensional view of the motion simulation device is shown, exploded to further illustrate various forms of motion.

[0080] Fig. 27 A simplified rear view of another embodiment of a motion simulation device is shown. DETAILED DESCRIPTION

[0081] exist Figure 1 , a pivot assembly 10 including a first pivot arm 12 is shown. The pivot arm 12 is pivotally mounted to a base plate 14 by its lower end 16 so that the pivot arm 12 can pivot with one rotational movement freedom relative to the base plate 14. For illustration purposes, the pivot arm 12 is shown in three positions, namely, positions (a), (b) and (c). The upper end 18 of the pivot arm 12 is pivotally connected to a working end 20 of an actuator 22 to pivot with one rotational movement freedom relative to the working end 20. The non-working end 24 of the actuator 22 is pivotally mounted to the base plate 14 to pivot with one rotational movement freedom relative to the base plate 14.

[0082] like Figure 1It can be seen that the upper end 18 of the pivot arm 12 moves along a circular path 26 .

[0083] exist Figure 2 1, reference numeral 30 generally designates a pivot assembly including a second pivot arm 32. For illustration purposes, the pivot arm 32 is shown in three positions, namely, positions (d), (e) and (f). The pivot assembly 30 includes a control arm 34 pivotably connected at one end to the upper end 18 of the pivot arm 12 with one degree of rotational freedom of movement, and pivotably connected at an opposite end to the upper end 36 of the second pivot arm 32 with one degree of rotational freedom of movement. The lower end 33 of the second pivot arm 32 is pivotably connected to the base plate 14 with one degree of rotational freedom of movement.

[0084] This arrangement illustrates the creation of a virtual pivot point P at the intersection of lines extending from the first pivot arm 12 and the second pivot arm 32, respectively. As described below, the creation of a virtual pivot point is an important aspect of the operation of the motion simulation device. When the pivot arms 12, 32 are reciprocally pivoted, the operation of the actuator 22 can cause the movement of the pivot point P, thereby creating a degree of linear movement of the control arm 34, as can be seen in the different positions of the virtual pivot point P.

[0085] According to various embodiments of the present invention, the control arm 34 can establish a motion platform for the motion simulation device. In application, the motion platform can be connected to the seat of the motion simulation device. Therefore, the virtual pivot point P will be located above the user's head. As a result, when the position of the virtual pivot point P is adjusted, the user's vestibular area can experience linear or translational motion, followed by a swinging motion in the same direction. As described above, this can be used to provide realism for any of the six types of motion of the vehicle or any combination thereof. In addition, the movement of the seat base can be relatively greater than the movement of the user's head. This is ideal for simulating acceleration and deceleration. Even with the Stewart platform described above, this motion is difficult to achieve.

[0086] exist Figures 3 to 6 4, reference numeral 40 generally designates an exemplary pivot assembly or dynamic frame, which is a modification of pivot assembly 30. Referring to the preceding drawings, like reference numerals refer to like parts unless otherwise specified.

[0087] When the dynamic frame pivots with the actuator, the pivot assembly 40 utilizes a third pivot arm, which can be considered a drive arm or drive shaft 42. The lower end of the drive arm 42 is pivotally connected to the base plate 14 or a fixed base or base assembly to pivot at two degrees of motion relative to the base plate 14. The first and second pivot arms can be considered first and second guide arms or struts 12, 32. The drive arm 42 is positioned forwardly relative to the guide arms 12, 32. The guide arms 12, 32 have substantially the same length.

[0088] Motion Platform 46( Figure 5 ) are connected to the upper ends 18, 36 of the guide arms 12, 32 and the upper end 48 of the drive arm 42, respectively, so that the guide arms 12, 32 can each pivot with three rotational degrees of freedom relative to the motion platform 46, and the drive arm 42 can pivot with two rotational degrees of freedom relative to the motion platform 46. Therefore, in the pivot assembly 40, the motion platform 46 effectively replaces the control arm 34. It can be understood that Figure 1 and Figure 2 yes Figures 3 to 6 2D representation of the arrangement shown. Thus, the virtual pivot point P mentioned above is established above the motion platform 46. The drive arm 42 and the guide arms 12, 32 are angled towards each other from the base plate to the motion platform 46 so that the longitudinal axes of the arms 12, 32, 42 intersect at the virtual pivot point P, wherein the motion platform 46 is interposed between the base plate and the virtual pivot point P.

[0089] When the pivot assembly 40 is used for motion simulation, the lower ends 16, 33, 44 of the arms 12, 32, 42 are fixed relative to each other, respectively, and the base plate is operably immovable during the simulation. The upper ends 18, 36, 48 of the arms 12, 32, 42 are fixed relative to each other, and the motion platform 46 is able to move relative to the base plate 14. It is understood that the range of motion of the motion platform 46 is limited by the arms 12, 32, 42.

[0090] A component of the motion simulation device or apparatus (such as a carrier) is mounted on or is an extension of the motion platform 46. The component can be driven by a suitable actuator that will cause any point on the motion platform to be constrained to move in a unique curved surface in three-dimensional space.

[0091] In the motion simulation device described herein, the drive arm 42 is pivoted to a position where it is located in a vertical plane that bisects the pivot assembly or dynamic frame 30. As can be seen below, the drive arm 42 can form a drive shaft for the motion simulation device. In the following description, the component is a seat assembly of the motion simulation device. However, it should be understood that the component can be in the form of any other interface between the user and the device.

[0092] The second and third pivot arms 32, 12 may be in the form of first and second (or left-hand and right-hand) guide arms or struts, which will also be described in further detail below.

[0093] like Figures 3 to 6It can be seen that the pivot arms 12, 32 and the drive arm 42 can be connected between the motion platform 46 and the base plate 14 by suitable upper and lower connectors, so that the connection points to the motion platform 46 define the vertices of the triangle, and the connection points to the base plate 14 also define the vertices of the triangle. In addition, the pivot arms 12, 32 and the drive arm 42 are angled toward each other from the base plate 14 to the motion platform 46. The triangle defined at the base plate 14 can be in the form of a right isosceles triangle, wherein the drive arm 42 extends from the vertex defining the right angle. With this configuration, and in the case where the pivot arms 12, 32 and the drive arm 42 have substantially the same length and the corresponding triangles are in parallel planes, the pivoting movement of the arms causes the motion platform to be constrained to move within a spherical surface in three-dimensional space. In addition, the virtual pivot point will be defined at the intersection of the longitudinal axes of the pivot arms 12, 32, 42 at a point operable above the motion platform 46. The operation of the actuator causes a bending displacement of the virtual pivot point. Thus, if a person's vestibular region is located at or near the motion platform 46, the vestibular region will sense an initial linear motion followed by a swinging motion, which has been found to enhance the simulation of acceleration or deceleration.

[0094] It will be appreciated that when the triangle defined by the connection points to the motion platform 46 is parallel to the triangle defined by the connection points to the base plate 14, relative rotation of the motion platform 46 and the fixed base 14 about a line 49 perpendicular to the triangle is substantially non-existent when the pivot arms 12, 32, 42 are tilted relative to that line. Figure 6 It can be seen that the fixed base 14 can be configured to tilt to adjust the angle 51 of the triangular plane connected to the base plate 14 relative to the pivot arms 12, 32 and the drive arm 42. This makes the corresponding planes where the ends of the arms are located angularly offset relative to each other, and thus makes the triangles out of the corresponding parallel planes. In other words, when the forward tilt axis (yaw axis) of the universal joint at the ends of the pivot arms 12, 32 is not parallel, shifting the motion platform to the left or right will produce some rotation of the motion platform 46, causing the arms 12, 32 to rotate around the z-axis. In this case, when the pivot assembly 40 tilts to the left or right, the drive arm 42 twists and rotates the motion platform 46 to accommodate the movement. Therefore, when the seat assembly, cockpit or some other user equipment is attached to the motion platform 46, the equipment can rotate or yaw as the pivot assembly 40 tilts. Therefore, in addition to the rolling effect, yaw will also be generated. The degree of yaw can be calibrated by adjusting the angle 51.

[0095] It will be appreciated that only two actuators are required to provide the necessary roll and yaw of the motion platform 46, with one actuator being provided on each side of the plane bisecting the assembly 40 from the base plate 14 to the motion platform 46. Figures 7 to 22Examples of suitable actuators are described. The linear fixed or non-working end of each actuator can pivot with two or three rotational degrees of freedom relative to the base plate 14, while the working end of each actuator can pivot with three rotational degrees of freedom relative to the device connected to the motion platform.

[0096] As can be seen from the embodiments described below, the substrate 14 can form part of a platform or frame, such as the one described below with reference to Fig.12 The described drift frame can be displaced relative to the base. This can be used to provide additional simulated motion. In addition, a seat or similar form of carriage can be displaced in a limited linear manner relative to the platform or frame. This, together with the motion described above, can produce a practically consistent simulated motion with only two actuators.

[0097] With properly calibrated angles 51, relative adjustment of the actuators can be used to customize the motion of the motion platform to simulate the six different types of motion described above. The relative adjustment of the actuators can result in the movement of the virtual pivot point discussed above to provide six different types of motion without the need for six separate actuators. In addition, the motion platform can be positioned behind the components, rather than underneath them, which significantly saves space, for example, compared to a Stewart platform.

[0098] exist Figures 7 to 11 100 generally indicates at least a portion of a motion simulation device according to one aspect of the present invention. Referring to the previous figures, like reference numerals refer to like components unless otherwise indicated. It should be understood that referring to Figures 1 to 6 , the device 100 is a working embodiment of the principles described above.

[0099] The device 100 includes a base assembly 102. The base assembly 102 includes a base 104 and a drift frame 106 mounted on the base 104 ( Fig.12 ).

[0100] like Fig. 9 It can be seen that the base 104 includes two beams 108 that converge toward each other from the rear to the front. The front ends of the beams 108 are connected together. The beams 108 are interconnected by a rearwardly positioned cross beam 110, and the rear ends of the beams 108 are arranged on a rear cross beam 112.

[0101] Two opposing rear arm assemblies 114 extend from respective beams 108. Each of the arm assemblies 114 includes two arms 116 that converge as they extend from their associated beams 108.

[0102] Two opposing front arm assemblies 118 extend from respective beams 108 forward of the rear arm assembly 114. Each of the arm assemblies 118 includes two arms 120 that converge as they extend from their associated beams 108.

[0103] Each of the beam 108, cross beams 110, 112, and arms 116 are generally rectangular in cross-section and have the same height such that the base 104 defines a generally flat upper surface suitable for supporting rollers.

[0104] Drift Frame 106( Fig.12 ) includes two beams 124 that overlie the beam 108 and converge toward each other from rear to front. The beams 124 are connected at their front ends by a front pivot assembly 126 ( Fig.11 ) connection, the front pivot assembly 126 pivotally connects the front portion of the drift frame 106 to the base 104 so that the drift frame 106 can pivot relative to the base 104 approximately around the vertex of the base 104. The pivot assembly 126 is also configured to keep the base 104 and the drift frame 106 relatively spaced apart at least at the vertex. The pivot assembly 126 includes a front pivot 127 ( Fig.11 ), the front pivot 127 interconnects the front ends of the beams 124 and engages a bearing assembly mounted on the base 104 at the front end of the beam 108. Thus, the drift frame 106 can pivot relative to the base 104 with one degree of freedom.

[0105] The drift frame 106 includes two opposing roller mounts 128 extending from the respective beams 124 to cover the respective rear arms 116. The rear roller assembly 130 ( Fig.10 ) are mounted on each respective rear roller mount 128. Each rear roller assembly 130 includes a roller 132 such that each roller 132 abuts against a respective arm 116. The rollers 132 are oriented such that when the drift frame 106 pivots relative to the base 104, the rollers 132 can roll along the arms 116.

[0106] The drift frame 106 also includes two opposing roller mounts 134 extending from the respective beams 124 to cover the respective front arms 120. The front roller assembly 136 ( Fig.11 ) are mounted on each corresponding front roller mount 134. Each front roller assembly 136 includes a roller 138 so that each roller 138 abuts against a corresponding arm 120. The rollers 138 and arms 120 are oriented so that when the drift frame 106 pivots relative to the base 104, the rollers 138 can roll along the arms 120.

[0107] The speaker assembly 140 is mounted between the beams 124 ( Figure 7 ).

[0108] The device 100 includes a drift drive mechanism 142 ( Fig.12 , Fig.13 ). The drift drive mechanism 142 includes a drive assembly mounting member 144 mounted on the cross beam 110 and extending forward. The details of the drift drive mechanism 142 can be found at Fig.15 and Fig.16 14. The drive assembly 146 is mounted on the mounting member 144. The drift drive mechanism 142 includes a drift drive track 148 extending between and interconnecting the beams 124 of the drift frame 106. The drive assembly 146 includes a pulley assembly 150 that engages the track 148. The drive assembly 146 can be actuated so that the drift frame 106 can pivot relative to the base 104 about the front pivot assembly 126. When the device 100 is used to simulate the movement of a vehicle, the mechanism 142 is used to simulate the drift of the vehicle or modulate the yaw. For example, the device 100 is controlled by a suitable control system so that the simulated drift can be accompanied by other movements of the device, such as rolling and yaw.

[0109] The cockpit assembly 152 is mounted on the drift frame 106 (e.g., Figure 7 ).

[0110] The cabin assembly 152 includes a cabin floor 154 (see, for example, Fig.17 , Fig.18 ). The cabin floor 154 includes a transverse ridge 166 and a pair of opposed, elongated step runners 158 extending forward from the transverse ridge 166 to support a step assembly 160 and accessories, such as motion enhancement devices 161 known as Buttkickers (trademark). The floor panel 156 is disposed between the step runners 158.

[0111] Two opposing cabin slides 162 are fixed to the transverse spine 166 and extend forward from the transverse spine 166. Each cabin slide 162 includes a seat for supporting a cabin body 174 (e.g., Fig.19 ) of the linear support track 164 so that the cabin body 174 can slide linearly forward and backward relative to the cabin floor 154. The cabin body 174 includes two opposing guide rails 176 ( Fig.19 ).

[0112] Axle 168 extends through spine 166 ( Fig.18 The ends of the axles 168 are connected to respective tilt arms 170 which in turn are connected to cabin guide arms 172 as will be further described below.

[0113] The cockpit body 174 also includes a control support assembly 178 ( Fig.19The control support assembly 178 is configured to support controls of the device 100 , including a steering mechanism 180 , a gearbox assembly 182 , and a handbrake assembly 184 .

[0114] Pivot mounting member 186 ( Fig.13 , Fig.14 ) extends between the beams 124. A cockpit swing arm 188 is pivotally mounted at a rear end to the pivot mount 186. Two opposing roller assemblies 190 are mounted at the front end of the swing arm 188. A swing arm slot 192 is mounted on the beams 124 and defines a generally flat surface for receiving a roller 194 of the roller assembly 190 so that the roller 194 can roll along the slot 192 when the swing arm 188 swings or pivots from side to side.

[0115] The linear track assembly 196 is mounted on the swing arm 188 to extend from a point behind the roller assembly 190 to a point outside the roller assembly 190. The linear track assembly 196 is angled upward from rear to front relative to the swing arm 188. The linear track assembly 196 includes a linear track 198. A swing arm mount 200 is secured between the rails 176. A bearing block pivot 202 is pivotally mounted on the swing arm mount 200 to pivot about an axis generally orthogonal to the linear track 198. A linear bearing block 204 is mounted on the bearing block pivot 202, and the linear track 198 is slidably received in the bearing block 204.

[0116] The device 100 includes a carrier in the form of a seat assembly 210 ( Figure 7 ), which is arranged above the drift frame 106. The seat assembly 210 includes a seat support 212 and a back support 214.

[0117] The seat support 212 includes two support arms 216 (eg, Fig.17 ). The joint assembly 218 interconnects the support arm 216 and the transverse spline 166. Therefore, the seat assembly 210 is fixed relative to the cabin slide 162 so that the seat assembly 210 can be linearly displaced relative to the cabin body 174.

[0118] The joint assembly 218 includes front and rear joint stays 220 disposed on the transverse splines 166. The joint assembly 218 includes an upper axle assembly 222 interconnecting the support arms 216. The joint assembly 218 includes a lower axle assembly 224 secured to the upper axle assembly 222, the lower axle assembly 224 being substantially orthogonal to the upper axle assembly 222. Two joint mounts 226 are mounted on respective joint stays 220. The lower axle assembly 224 interconnects the joint mounts 226. Thus, the joint assembly 218 provides for relative pivotal movement of the seat support 212 and the transverse spine 166 in two degrees of freedom.

[0119] The back support 214 includes two support arms 228 (eg, Fig.17 ). The support arms 228 are operable to converge upward. The backrest cross brace 230 (e.g., Fig.10 ) extends between the support arms 228 at a position located at or near the lower end of each support arm 228.

[0120] Seat 231( Figure 7 ) is fixed to the seat support 212.

[0121] Yaw mounting 234 ( Fig.12 , Fig.13 , Fig.13A ) is arranged between the beams 124 of the drift frame 106, located at the rear end of the drift frame 106. The yaw mount 234 includes a support beam 400 extending between the beams 124. Mounting plates 402 are secured to respective ends of the beams 124. Each mounting plate 402 defines a plurality of fastener or bolt holes 404 through which fasteners, such as bolt rods 406, may be received to secure the mounting plate 402 to the respective beams 124. The bolt holes 404 are arranged in a suitable pattern to allow the support beam 400 to pivot as indicated by arrows 408. It will be appreciated that the axes 410 and 412 ( Fig.13A The purpose of doing so will be described in further detail below.

[0122] like Fig.13A It can be seen that the lower universal joint 240 ( Fig.21 )'s lower cross-axis 414 is mounted in a foot yoke 244, which is mounted in a yaw mount 234 to allow pivotal movement of the cross-axis 414 about a line or axis 410 and angular movement of the line or axis 412 relative to the mount 234.

[0123] like Fig.21 It can be seen that a motion platform in the form of a hub 236 is mounted on the upper end of the back support 214. The hub 236 may be fixed to the head region of the back support 214.

[0124] A drive arm in the form of a drive shaft 238 is connected at a lower end to the yaw mount 234 via a lower connector provided by a lower universal joint 240 and at an upper end to the hub 236 via an upper connector provided by an upper universal joint 242 .

[0125] The joint 240 also includes a lower yoke 246 ( Fig.18). The foot yoke 244 is connected to the shaft yoke 246 by the lower cross shaft 414 to allow the drive shaft to pivot about the lines 410, 412. Therefore, the drive shaft 238 is capable of two degrees of freedom of pivotal movement relative to the mounting member 234.

[0126] The upper universal joint 242 includes an upper yoke 250 ( Fig.18 ). The hub 236 includes a seat yoke 252 ( Fig.21 ). The shaft yoke 250 and the seat yoke 252 are connected to each other by an upper cross-axis 255 that is substantially identical to the lower cross-axis 414 to allow the hub 236 and the drive shaft 238 to pivot relative to each other with two degrees of freedom of movement. The drive shaft 238 can rotate relative to the hub 236 about the axis 251 and pivot relative to the hub 236 about the axis 253 ( Fig.21 ).

[0127] Two brace members in the form of a left-hand brace member 232.1 and a right-hand brace member 232.2 extend from the rear end of the respective beam 124 ( Fig. 20 The hub 236 includes two spaced apart guide mounts in the form of a left hand guide mount 254.1 and a right hand guide mount 254.2 extending rearwardly from the seat yoke 252 on respective sides of the drive shaft 238 ( Fig.21 ). A left hand guide arm or strut 256.1 interconnects the left hand brace member 232.1 and the left hand guide mount 254.1 with lower and upper connectors provided by lower ball joints 258.1 and upper ball joints 260.1, respectively. A right hand guide arm or strut 256.2 interconnects the right hand brace member 232.2 and the right hand guide mount 254.2 with lower and upper connectors provided by lower ball joints 258.2 and upper ball joints 260.2. The ball joints 258, 260 allow the struts 254, 256 to pivot with three degrees of freedom relative to the hub 236 and the brace member 232. In a static, stationary state, the drive shaft 238 is neither tilted to the left nor to the right, and the drive shaft 238 is located in a vertical plane that bisects the dynamic frame defined by the drive shaft 238, struts 254, 256, the hub 236 and the base assembly 102.

[0128] For example, Fig. 20 , Fig. 22It can be seen that a left hand linear actuator 262.1 and a right hand linear actuator 262.2 interconnect the drift frame 106 and the cross brace 230. The left hand actuator mount 264.1 is arranged on one of the rear roller mounts 128, while the right hand actuator mount 264.2 is arranged on the other of the rear roller mounts 128. An ear shaft 266 is pivotally mounted on each mount 264. The cylinder 268 of each actuator 262 is pivotally mounted to the associated ear shaft 266 so that the cylinder 268 can pivot with two degrees of freedom relative to the drift frame 106. Therefore, when the drive shaft 238 is neither tilted to the left nor to the right, the actuator 262 is located on the corresponding side of the operational vertical plane in which the drive shaft 238 lies. In addition, the drive shaft 238 and the guide struts 254, 256 are interposed between the actuators 262. Therefore, with reference to Figures 1 to 6 , the arms 12 , 32 , 42 are interposed between the linear actuators. The actuator 262 interconnects the base assembly 102 and the seat assembly 210 .

[0129] Each actuator 262 includes a piston or shaft 269 ( Fig. 20 ). The actuators 262 converge toward each other from the roller mount 128 to the cross brace 230. Therefore, the relative movement of the seat assembly 210 and the drift frame 106 is restricted to two degrees of freedom of movement that are not specifically rotational or translational.

[0130] Cockpit guide mounting member 272 (e.g., Fig.18 ) are fixed to the drive shaft 238 and extend from both sides of the drive shaft 238. The upper end of each cabin guide arm 172 is connected to the corresponding end of the guide mounting member 272 through a ball joint 169. Each tilt arm 170 is connected to the corresponding lower end of each cabin guide arm 172 through a ball joint 171. Therefore, the end of the guide arm 172 can move with three translational degrees of freedom and two rotational degrees of freedom relative to the corresponding tilt arm 170 and the guide mounting member 272. The guide arm 172 and the tilt arm 170 are used to limit the rolling of the seat assembly 210.

[0131] The guide column 274 is arranged on the left hand side guide rail 176 ( Fig. 22 ). A cockpit guide mount 276 is mounted on the left hand support arm 228. A left hand cockpit guide arm or strut 278 interconnects the upright 274 and the left hand guide mount 276 via a ball joint.

[0132] The working principle and method of the device 100 are as follows Figure 23 to Figure 26 shown.

[0133] exist Fig.23 middle, Figures 3 to 6Schematic diagram of is superimposed on the drive shaft 238 (drive arm 42), guide struts 256, base 104 and hub 236. This illustrates that hub 236 is constrained to move within a curved region of three-dimensional space. More specifically, pivot arm 12 is equivalent to right-hand guide strut 256.2, pivot arm 32 is equivalent to left-hand guide strut 256.1, and drive arm 42 is equivalent to drive shaft 238. Hub 236 defines motion platform 46, and drift frame 106 defines base plate 14.

[0134] The lower universal joint 244 of the drive shaft 238 and the lower ball joint 258 of the guide strut 256 can be considered as the vertices of a triangle 280. Similarly, the upper universal joint 242 of the drive shaft 238 and the upper ball joint 260 of the guide strut 256 can be considered as the vertices of a triangle 282. If the strut 256 and the drive shaft 238 are of similar length and the triangles 280, 282 are located in parallel planes, the curved area in three-dimensional space can be spherical. However, as described above, this arrangement does not produce the necessary yaw.

[0135] As described above, the drive shaft 238 can pivot about the axis 253, 410. It will be appreciated that when the plane of the triangle 280 is parallel to the plane of the triangle 282, this pivoting motion does not result in any rotation or twisting of the drive shaft 34. However, as described above, when the yaw mount 234 is pivotally adjustable relative to the drift frame 106 so that the axes 253, 410 are angled relative to each other, in the event that the planes of the triangles 280, 282 are tilted relative to each other due to the pivoting adjustment of the yaw mount 234 relative to the drift frame 106, because the mount 234 is rotationally fixed about the axis 412 relative to the lower cross shaft 414, this pivoting motion causes the drive shaft 238 to rotate relative to the mount 234 to accommodate the relative angular orientation of the axes 253, 410. The rotation is synchronized with the swing of the axis 253 and is effectively proportional to its swing. This effect is generally referred to as "phasing". Thus, the configuration of the base assembly 102 is adjustable to change the relative angular orientation of the base assembly 102 and the hub 236 such that the above-mentioned pivoting of the dynamic frame causes the drive shaft 238 to transfer rotation to the hub 236 to simulate yaw.

[0136] This rotation of the drive shaft 238 is transmitted to the wheel hub 236 via the upper cross shaft 255. The size of the angle defined between the axes 253, 412 will determine the degree of rotation produced by the pivoting movement of the lower cross shaft 414 about the axis 410, and therefore the degree of rotation of the drive shaft 238 about the axis 410. Assuming that the seat assembly 210 is fixed to the wheel hub 236, this rotation can be transmitted to the seat assembly 210 to simulate yaw. Therefore, the degree of yaw can be adjusted by the pivoting of the yaw mount 234 relative to the drift frame 106.

[0137] exist Figure 7 and Figure 8 , region 284 represents the overall center of mass of the person sitting in seat 231. In addition, region 286 generally indicates the location of the vestibular system of the person sitting in seat 231.

[0138] As can be seen from the figures, the hub 236 is positioned toward the vestibular system, slightly below the area 286. Return to Reference Figure 2 , which means that the virtual pivot point is located above the vestibular region 286. Therefore, when the hub 234 is driven by differential operation of the actuator 262, the above-mentioned adjustment of the pivot point within the curved surface provides a simulated motion with enhanced realism. The reason for this is that the adjustment of the pivot point can produce a certain amount of linear motion of the vestibular region consistent with the swinging motion, as described above with reference to Figures 1 to 6 As described.

[0139] Fig.25 284 ( FIG. 28A ) indicates various forms of motion that can be achieved through differential operation of actuator 262. For example, joint assembly 218 allows seat assembly 210 to extend generally upward through region 284 ( Figure 7 ), as indicated by dashed line 288, which axis can be considered the z-axis to accommodate the yaw motion of the seat assembly 210 produced as described above. The joint assembly 218 also allows the seat assembly 210 to pivot about an axis (which can be considered the x-axis) extending along a simulated acceleration or deceleration line orthogonal to the upward axis, as shown by line 290, to produce a roll of the seat assembly 210. This combination of yaw and roll may occur during the device's simulated turn.

[0140] As shown by line 292, the cockpit swing arm 188 can pivot relative to the pivot mount 186 and, as shown by line 293, relative to the swing arm mount 200. This pivoting can be independent of the seat assembly 210 ( Figure 7 ). In other words, the cabin floor 154 can pivot somewhat independently of the seat assembly 210. This can help provide realism to simulated motion, such as during turns, by positioning the controls differently relative to the user's limbs, as described further below.

[0141] Dashed line 294 indicates the direction of linear movement of guide rail 176, and therefore cabin floor 154 ( Fig.18 ) relative to the seat assembly 210.

[0142] Solid lines 295, 298 indicate the tilt of seat assembly 210 relative to cabin floor 154 due to operation of actuator 262. More specifically, curve 295 indicates the tilt rotation at seat assembly 210, while curve 298 indicates the tilt rotation accommodated by the rotation of bearing block 204.

[0143] It will be appreciated that with differential operation of the actuator 262, the drive shaft 238 can pivot relative to the mount 234, resulting in differential rotation of the tilt arm 170. This results in roll of the cabin floor 154, which is accommodated by the relative rotation of the linear track 198 and the swing arm mount 200, as shown by line 297. The guide arm 172 is non-extensible. It can be seen that the degree of roll of the seat assembly 210 is limited by the degree of pivotal movement accommodated by the tilt arm 170. In addition, as described above, by appropriately adjusting the mount 234 relative to the drift frame 106, the roll can be accompanied by yaw to simulate a turn.

[0144] Thus, for example, if one of the shafts 269 is extended relative to the other, then as the drive shaft tilts and rotates, the hub 236 will also tilt and rotate. This creates linear, rotational, and oscillating motion at the vestibule area 286, which enhances realism compared to simulations that emphasize linear, rotational, and oscillating motion elsewhere.

[0145] Actuator 262 may also be actuated so that forward and rearward tilting of drive shaft 238 about axis 299 may result in relative displacement of cabin floor 154 relative to cabin body 174. This results in effective shortening or lengthening of cabin assembly 152, thereby enhancing the simulation of deceleration or acceleration.

[0146] Fig.26 These relative movements are further illustrated. For example, the straight dashed line 296 indicates the relative movement of the cabin body 174 and the cabin floor 154.

[0147] It will be appreciated that the joint assembly 218 allows the seat assembly 210 to pivot forward and backward to simulate pitch. This motion is guided by the cockpit guide strut 278, which can pivot about the guide column 274, as shown by the solid curve 291. The cockpit guide strut 278 is connected to the guide column 274 and the guide mount 276 by an opposing ball joint 277. The joint assembly 218 also allows the seat assembly 210 to pivot from one side to the other. This motion is also guided by the cockpit guide strut 278 in conjunction with the opposing ball joint. This motion is represented by the dotted curve 293.

[0148] The device 100 defines two independent motion systems. These motion systems include a main motion platform defined by a yaw mount 234, a drive shaft 238, an upper gimbal 242, a lower gimbal 240, and a hub 236. In particular, these components define a dynamic frame having a triangular base, three quadrilateral sides, and a triangular top, as described with reference to FIG. Figures 3 to 6 Described. The sides of the frame are actually three four-bar linkages, with two actuators each engaging at one end with a fixed (relative to the frame) mount or support and at an opposite end engaging with the respective side of a plane bisecting the frame from the triangular top to the triangular base, such that operation of the actuators causes the frame to twist. This twisting can be accommodated by a suitable joint type, such as a ball joint. It will be appreciated that the triangular top forms or defines a common rocker for the three four-bar linkages. This rocker is the main simulation platform and constrains any point on it to a unique three-dimensional surface. In the various embodiments described above, the rocker is in the form of a hub 236. Thus, the movement of the rocker can be transmitted to the seat assembly 210 or any other arrangement connected to the rocker.

[0149] As described above, the actuators working in combination control and ultimately position the rocker in a three-dimensional surface. When the actuators are locked, the frame is essentially rigid.

[0150] In the main motion platform, the drive shaft 238 can move with four degrees of freedom. This is provided by the two UV joints 242, 244, and the translational motion is provided by the drift frame 106, on which the yaw mount 234 is arranged. The two guide struts 256 can each move with five degrees of freedom. The ball joints 258, 260 at the respective ends of the struts 256 provide three degrees of freedom of pivotal or rotational motion, and the drift frame 106 provides two degrees of freedom of translational motion because the struts 256 extend from the brace members 232 to the hub 236. The two actuators 262 can each move with five degrees of freedom. The trunnions 266 and the ball joints 270 together provide three degrees of pivotal or rotational motion, while the drift frame 106 on which the trunnions are mounted provides two degrees of translational motion.

[0151] Thus, drive shaft 238 has two limits to motion, each of struts 256 has one limit to motion, and each of actuators 262 has one limit to motion. Thus, the system has six limits to motion.

[0152] The primary motion platform also controls two auxiliary motion platforms in the form of seat assemblies 210 mounted on joint assemblies 218 so that seat assemblies 210 can pitch and yaw under operation of actuators 262 when yaw mounts 234 are properly adjusted.

[0153] The second motion platform in the form of the cabin floor 154 is mechanically coupled to the main platform (hub 236) via the seat assembly 210, cabin slide 162, support rail 164, joint assembly 218 and seat assembly 210. The linkage is such that the cabin floor can move in a predictable dynamic relationship, but not in unison with the main platform. The reason for this is that the seat assembly 210 can move linearly relative to the cabin floor 154 due to the relative tilting of the cabin floor 154 and seat assembly 210 caused by the forward and rearward tilting of the drive shaft 238.

[0154] The movement of the second motion platform (cabin floor 154 ) is determined by the movement of the swing arm 188 and the operation of the joint assembly 218 .

[0155] The swing arm 188 has five degrees of freedom of motion. The pivotal motion of the drift frame 106 about the front pivot assembly 126 provides one degree of freedom of rotation or pivoting motion, and the linear track assembly 196 provides two degrees of freedom of motion in the form of one degree of freedom of translation and one degree of freedom of rotation. The bearing housing pivot 202 and the linear bearing housing 204 ( Fig.14 ) provides two degrees of freedom of pivotal movement. Joint assembly 218 ( Fig.17 ) provides two degrees of freedom of rotational motion. Guide arm 172 ( Fig.18 )'s ball joints 169, 171 provide three degrees of freedom of movement, while the cabin guide struts 278 ( Fig. 22 ) provides five degrees of freedom of movement.

[0156] Thus, the swing arm 188 has one limit to motion, the joint assembly 218 has four limits to motion, and the guide arm 172 and guide strut 278 have one limit to motion.

[0157] The third sports platform ( Fig.19 The control support assembly 178 in the figure is mechanically coupled to the primary motion platform and the secondary motion platform so that it moves with both the primary motion platform and the secondary motion platform in a predictable dynamic relationship, but not in unison with both.

[0158] The movement of the third motion platform is controlled by the cabin guide pillar 278 ( Fig. 22 ) and guide rails 176, 162. The cockpit guide strut 278 has five degrees of freedom of motion in the form of three rotational degrees of freedom and two translational degrees of freedom provided by the ball joints 274, 276 because the control support assembly 178 is coupled to the seat assembly 210 via the guide strut 278 connected to the support arm 228. The linear sliding arrangement provided by the guide rails 176, 162 provides one degree of freedom in translation.

[0159] Therefore, the motion constraints of the third motion platform include one constraint provided by the cabin guide struts 278 and five constraints provided by the guide rails 176 , 162 .

[0160] exist Fig. 27 1, reference numeral 300 generally indicates another embodiment of a motion simulation device. Referring to the previous drawings, like reference numerals refer to like parts unless otherwise specified.

[0161] In this example, a base 302 is provided. A support structure 304 extends upward from the rear of the base 302. The support structure 304 includes a rear support 306 on which an upper bearing assembly 328.1 and a lower bearing assembly 328.2 are mounted. A carrier 326 is mounted on the rear support 306 together with a bearing assembly 328. The carrier 326 includes a hanger 320. An upper carrier arm 322.1 is pivotally connected to the hanger 320 at one end, and the opposite end is pivotally connected to the rear support 306 using the upper bearing assembly 328.1. A lower carrier arm 322.2 is pivotally connected to the hanger 320 at one end, and the opposite end is pivotally connected to the rear support 306 using the lower bearing assembly 328.2.

[0162] The motion simulation device 300 includes a seat assembly 310. The seat assembly 310 includes a seat frame 312. The seat frame 312 includes a seat support 314 and a seat back 316.

[0163] Axial axle assembly 318 interconnects seat back 316 and hanger 320. Axial axle assembly 318 includes axle mount 330 secured to hanger 320. Sled 324 interconnects seat support 314 and the axle of assembly 318 so that seat assembly 310 can pivot relative to carrier 326 about an x-axis.

[0164] It will be appreciated that this configuration defines a four-bar linkage or dynamic frame, as shown by the dashed line 336. In operation, the linkage 336 can provide a virtual pivot point above the vestibular area of ​​the user. The purpose of the virtual pivot point is described above with reference to the device 100. However, the virtual pivot point is not always necessarily above the head. The upper arm 322.1 is used to maintain the seat back 316 approximately parallel to the hanger 320. The geometry defined by this arrangement also provides other stability advantages. For example, the linkage is self-centering because the midpoint has the lowest potential energy state. This reduces the power requirements of the actuator described below.

[0165] Two upper actuator mounts 331 are disposed on respective sides of the hanger 320 on the seat back 316. Two lower actuator mounts 332 are disposed on the base 302, also on respective sides of the support structure 304. An actuator 334 is mounted between each pair of upper mounts 330 and lower mounts 332 having ball joints on respective sides of the hanger 320, such that the actuator 334 has three rotational degrees of freedom at its respective ends relative to the seat frame 312 and the base 302.

[0166] Operation of the actuator 334 results in tilting or deformation of the linkage mechanism 336 and rotation of the carriage 324 relative to the hanger 320. For example, forward pivoting of the arm 322 (or counterclockwise rotation from a left side view) results in clockwise rotation of the hanger 320, with the virtual pivot point moving downward from above the head (when simulating full braking) and to the area around the user's stomach (when simulating full acceleration). In addition, differential operation of the actuator 334 can cause the carriage 324 to rotate relative to the hanger 320. Thus, appropriate operation of the actuator 334 can result in movement of the seat assembly 310 relative to the base to simulate the six types of motion described above.

[0167] It is contemplated that various other forms of dynamic frames or four-bar linkages may be implemented in different configurations.

[0168] In a motion simulation device, the transition from linear acceleration to virtual acceleration should occur without detecting a force vector opposite to the simulated direction. In short, if the desired acceleration is in a particular direction, an initial acceleration in that direction needs to be generated from the current reference frame to achieve the desired position or orientation to initiate the virtual acceleration. As described above, the virtual pivot point is displaced during the pivoting motion about the virtual pivot point. The position of the vestibular region 286 is such that this displacement of the virtual pivot point causes the vestibular region 286 to experience a linear displacement. This only applies to lateral acceleration.

[0169] Aside from the drift motion produced by the drift drive mechanism 142, all other motion of the seat assembly 210 is produced by only two actuators 262. This is in contrast to the Stewart platform described above, which requires six prismatic actuators and requires the actuators to be housed beneath the seat or motion platform.

[0170] To put the following motion into context, the definitions of the six types of motion listed in the Background should be considered.

[0171] For example, for acceleration and braking, the actuator 262 can be actuated simultaneously and non-differentially to produce an initial range of linear acceleration, which is subsequently swapped out to pitch, as described above. More specifically, before the vestibular region 286 begins a swinging motion in the same direction, the virtual pivot point is initially offset forward or backward. The initial actuation may cause a relative displacement of the cabin floor 154 and the seat assembly 210. In the case where the cabin floor 154 and the seat assembly 210 are displaced away from each other, for example, as the shaft 269 is extended at the same time, the simulation of acceleration is enhanced. Similarly, in the case where the cabin floor 154 and the seat assembly 210 are displaced toward each other, for example, as the shaft 269 is withdrawn at the same time, the simulation of deceleration is enhanced. This relative motion of the cabin floor 154 and the seat assembly 210 stimulates the user's proprioceptive system (the perception of the motion relationship between body parts). This enhances the sense of reality. Furthermore, assuming the user will be holding the steering wheel and possible other controls connected to the cabin floor 154 through the cabin body 174, these components will be pulled away from the user to simulate initial acceleration forces, or will be pushed towards the user to simulate initial deceleration forces.

[0172] To simulate turning, the actuator 262 can be differentially actuated to produce a roll and yaw of the vestibular region 286. As described above, due to the differential actuation of the actuator 262, the initial displacement of the virtual pivot point in the direction of the turn effectively simulates two motions. As described above, the initial linear displacement is converted into a swinging motion. Turning is further simulated by the actuator 262, which is further used to simulate the roll that will be generated by continued turning. The above-mentioned yaw is used together with the visual input and the body deformation caused by the relative movement of the seat assembly 210, the cabin floor 154 and the pedal assembly 160 to cause rolling (which is perceptually undesirable) to become a roll.

[0173] As with linear acceleration and deceleration, during cornering, the seat assembly 210 and the cabin floor 154 may also be pivotally displaced relative to each other, as shown in FIG. Fig.25 and Fig.26 As described. When turning, the manual controls can be moved farther in the direction of the turn than the driver to simulate the centrifugal force that pushes the arms away from the turn when turning. Similarly, the pedal assembly 160 mounted on the pedal slide 158 moves farther in the direction of the turn than the driver to simulate the centrifugal force that pushes the legs away from the turn when turning. In addition, due to the relative inclination described above, the cabin floor 154 is tilted more gently toward the turn than the seat assembly, resulting in additional pressure on the foot on the outside of the turn and reduced pressure on the foot on the inside, as experienced under real centrifugal forces.

[0174] It is contemplated that the seat itself could deform to provide additional pressure under the thighs during braking, reduced pressure under the thighs during acceleration, and increased pressure on the outside of the thighs and reduced pressure on the inside of the thighs during cornering.

[0175] As described above, both the hand controls and foot pedals are subject to controlled motion relative to the user's body. They are intentionally actuated at different rates to ensure that the range of motion of the limbs they manipulate is scaled to fit comfortably within the anthropometric range of the 5th percentile for females to the 95th percentile for males according to North American standards.

[0176] It will be appreciated that the kinematic deformation described above is passively generated via a mechanical linkage and requires no additional input other than the two actuators 262 .

[0177] The lengths of the guide arms 172, 256, 278 and the drive shaft 238 are all manually adjustable, thereby adjusting the movement of the hub 236. This adjustment can be used to dampen the rise and fall (height changes) of the vestibular region 286 during operation of the actuator 262.

[0178] As is apparent from the foregoing description, displacement of the virtual pivot point, as described above, can generate acceleration or deceleration cues for the user, thereby enhancing the simulation. More specifically, the initial linear acceleration converted to the swinging motion described above can produce the sensation of continuous linear acceleration. In contrast to the "under the seat" model, the simulation device described herein moves in such a manner that the virtual acceleration experienced by the user can be proportional to and in the same direction as the initial excursion of the seat or carrier from the center or neutral position.

[0179] The following claims are considered to be incorporated into the above description.

[0180] When any number or range is described herein, unless expressly stated otherwise, that number or range is approximate. Unless otherwise indicated herein, numerical ranges recited herein are intended to serve as a shorthand method of referring individually to each separate value falling within the range, and each separate value and each separate subrange defined by those separate values ​​is incorporated into the specification as if it were individually recited herein.

[0181] For convenience, words indicating direction or orientation are used, such as "front", "rear", "back", "downward", "upward", etc. The inventors contemplate that the various embodiments may be used in a non-operating configuration, such as when presented for sale. Therefore, these words should be regarded as illustrative rather than restrictive.

[0182] Throughout the specification, references to any advantages, promises, objectives, etc. should not be considered cumulative, comprehensive and / or collective, and should be considered preferred or desired, rather than as a guarantee.

[0183] Throughout the specification, unless otherwise stated, "comprises" (and variations thereof) or related terms such as "comprising" (and variations thereof) are used inclusively rather than exclusively, such that a stated integer or group of integers may include one or more other unstated integers or groups of integers.

[0184] The term "and / or", such as "A and / or B", should be understood as "A and B" or "A or B", and should be understood to provide clear support for both meanings or either meaning.

[0185] It should be understood that the terms used above are for descriptive purposes and should not be considered as limiting. The described embodiments are intended to illustrate the present invention, rather than to limit the scope of the present invention. The present invention can be implemented with various modifications and additions that are readily conceivable to those skilled in the art.

Claims

1. A motion simulation device, characterized in that: The motion simulation device comprises: Sports platform; A carrier for carrying a user, the carrier being mounted on the motion platform; a drive arm configured to rotate relative to the motion platform about a longitudinal axis of the drive arm and having a lower end and an upper end, the lower end being pivotally mounted on a base plate for pivoting relative to the base plate with two degrees of freedom of motion, and the upper end being pivotally connected to the motion platform for pivoting relative to the motion platform with two degrees of freedom of motion, so that rotation of the drive arm can be transmitted to the motion platform; and Two guide arms, each guide arm having a lower end and an upper end, the lower end being pivotally mounted on the base plate to pivot with three degrees of freedom relative to the base plate, the upper end being pivotally connected to the motion platform to pivot with three degrees of freedom relative to the motion platform, the drive arm, the guide arm and the motion platform defining a dynamic frame capable of pivoting relative to the base plate so that the resultant motion of the motion platform can be transmitted to the carrier.

2. The motion simulation device according to claim 1, characterized in that: The drive arm and the guide arm are angled toward each other from the base plate to the motion platform so that the longitudinal axes of the drive arm and the guide arm intersect at a virtual pivot point, wherein the motion platform is interposed between the base plate and the virtual pivot point.

3. The motion simulation device according to claim 2, characterized in that: The drive arm is positioned forwardly relative to the guide arm.

4. The motion simulation device according to claim 3, characterized in that: The planes in which the ends of the drive arm and the guide arm lie are angularly offset relative to each other, so that when the drive arm pivots to accommodate the angular offset of the planes, pivoting of the dynamic frame causes the drive arm to transfer rotation to the motion platform.

5. The motion simulation device according to claim 1, characterized in that: The motion simulation device includes two actuators, each actuator having a linear fixed end and a working end, the linear fixed end being pivotally mounted to the base plate so as to pivot relative to the base plate with at least two rotational degrees of freedom, the working end being pivotally mounted to the carrier with three rotational degrees of freedom, the drive arm and the guide arm being interposed between the actuators.

6. The motion simulation device according to claim 5, characterized in that: The actuators converge toward each other from their fixed ends to their working ends.

7. The motion simulation device according to claim 2, characterized in that: The guide arms have the same length.

8. The motion simulation device according to claim 1, characterized in that: The motion simulation device includes a base assembly, and the carrier includes a seat assembly arranged above the base assembly, wherein the seat assembly has a seat support and a backrest support.

9. The motion simulation device according to claim 8, characterized in that: The motion platform includes a hub fixed to the head region of the back support, the drive arm is in the form of a drive shaft, the drive shaft having an operable upper connector and an operable lower connector, the upper connector engaging with a complementary connector of the hub to provide an upper joint that limits the movement of the hub relative to the drive shaft to two rotational degrees of freedom, and the lower connector engaging with a complementary connector of the base assembly to provide a lower joint that limits the movement of the drive shaft relative to the base assembly to two rotational degrees of freedom.

10. The motion simulation device according to claim 9, characterized in that: The two guide arms are in the form of two guide struts, each guide strut is located on a respective side of the drive shaft and has an operable upper connector and an operable lower connector, the upper connector engaging with a complementary connector of the hub to provide an upper joint allowing the hub to rotate with three degrees of freedom relative to each guide strut, and each lower connector engaging with a complementary connector of the base assembly to provide a lower joint allowing the hub to rotate with three degrees of freedom relative to each strut relative to the base assembly.

11. The motion simulation device according to claim 10, characterized in that: The motion simulation device includes two linear actuators, each interconnecting the base assembly and the seat assembly, each of which is located on a respective side of an operational vertical plane in which the drive shaft lies when the drive shaft is not tilted to the left or to the right.

12. The motion simulation device according to claim 10, characterized in that: The upper and lower joints of the drive shaft and the guide struts lie in corresponding planes to define a dynamic frame that is pivotable relative to the base assembly so that the resultant motion of the hub can be transmitted to the seat assembly.

13. The motion simulation device according to claim 10, characterized in that: The configuration of the base assembly is adjustable to change the relative angular orientation of the base assembly and the hub such that pivoting of the dynamic frame causes the drive shaft to impart rotation of the hub to simulate yaw.

14. The motion simulation device according to claim 10, characterized in that: The upper connector of the drive shaft and the complementary connector of the wheel hub are provided by an upper universal joint, and the lower connector of the drive shaft and the complementary connector of the base assembly are provided by a lower universal joint.

15. The motion simulation device according to claim 11, characterized in that: Each linear actuator is connected to the base assembly at a fixed end by a joint that limits relative movement of the linear actuator and the base assembly to at least two rotational degrees of freedom, and is connected to the seat assembly at a working end by a joint that limits relative movement of the linear actuator and the base assembly to between two degrees of freedom and four degrees of freedom.

16. The motion simulation device according to claim 10, characterized in that: The motion simulation device includes a cabin floor located between the base assembly and the seat assembly.

17. The motion simulation device according to claim 16, characterized in that: A joint assembly configured to provide rotational movement with two degrees of freedom of movement is interposed between the seat support and the cabin floor, such that the seat assembly can rotate relative to the cabin floor with two degrees of freedom.

18. The motion simulation device according to claim 17, characterized in that: The motion simulation device includes two control strut assemblies, each of which interconnects the drive shaft and the cabin floor on a respective side of the cabin floor by means of a joint, the joint allowing two rotational degrees of freedom and three translational degrees of freedom of movement between the drive shaft and the cabin floor, thereby being used to limit the rolling of the cabin floor.

19. The motion simulation device according to claim 18, characterized in that: The motion simulation device includes a connector assembly interposed between the cabin floor and the base assembly, the connector assembly being configured to facilitate pivotal movement of the cabin relative to the base assembly about an operable vertical axis located forward of the seat assembly.

20. The motion simulation device according to claim 19, characterized in that: The connector assembly includes a pivot arm pivotally connected at one end to the base and pivotally connected at an opposite end to the cabin floor forward of the seat assembly.

21. The motion simulation device according to claim 19, characterized in that: The connector assembly includes a linear bearing assembly interposed between the cabin floor and the base to facilitate forward and backward movement of the cabin floor relative to the base.

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