Movement system

Abstract

This invention relates to the field of motion systems, particularly for simulating motions such as driving or flying. Specifically, but not exclusively, this invention relates to motion generators, systems including such motion generators, and methods of using motion generators and motion systems, for example, as vehicle simulators. One aspect of the invention relates to a main motion generator (10, 82, 102) used in a motion simulator for moving a main payload (14) of 80 kg or more above a surface (12). The main motion generator (10, 82, 102) is a parallel mechanism comprising: a main frame or platform (11) for supporting the main payload (14) of 80 kg or more; three elongated linear guides (21, 22, 23) arranged laterally to each other in a planar array below the frame; at least one actuator (31, 32, 33) arranged above the surface on each linear guide (21, 22, 23) and controllable to move the linear guides (21, 22, 23) so that the main payload of 80 kg or more can move in at least three degrees of freedom.

Description

Technical Field

[0001] The present invention relates to the field of motion systems, in particular for simulating motion such as driving or flying. In particular, but not exclusively, the present invention relates to a motion generator, and to a motion system comprising such a motion generator, and to a method of using a motion generator or a motion system, for example as a vehicle simulator. Background Art

[0002] A motion generator is a device that is able to apply motion, forces and accelerations to a payload in one or more degrees of freedom (or "DOF"). The payload can be, for example, a person undergoing a simulated experience in a motion simulator. Alternatively, the payload can be another motion generator, connected in series, so to speak, with the first. Motion generators are used in motion systems that are controlled by a control system.

[0003] Motion generators are used in a variety of applications including motion simulation (e.g., flight simulators, driving or vehicle simulators), robotics, 3D printing, vibration and earthquake simulation. The most common type of motion system currently used in motion simulation is the Stewart platform (or "hexapod"). This is a parallel mechanism with six actuators, usually attached in pairs to three locations on the platform base plate and spanning to three mounting points on the platform, top plate (or end effector). A device or payload such as a human user, usually in some form of cockpit, driver area or model vehicle, placed on the platform can move in the six degrees of freedom that the freely suspended body is capable of, namely three linear motions x, y, z (lateral, longitudinal and vertical) and three rotations (pitch, roll and yaw). Generally speaking, in a parallel mechanism, multiple computer-controlled actuators are arranged to operate in parallel to support the payload. In this context, "parallel" means that there is only one actuator in each individual load path between the payload and the base, whereas in a series mechanism, one or more of the possible load paths between the payload and the base includes at least two actuators.

[0004] A motion simulator is a mechanism containing at least one motion generator that creates for the occupants the effect or sensation of being in a moving vehicle. Motion simulators are used professionally in the form of driving simulators and flight simulators, respectively, for training drivers and pilots. They are also used industrially in the form of vehicle simulators for the creation, design, and testing of the vehicles themselves. Professional motion simulators for driving and flight simulators typically synchronize visual displays—for example, provided by projection systems and associated screens and audio signals—with the motion of the vehicle compartment (or chassis) occupied by the driver or pilot to better feel the effects of the motion. The advent of virtual reality (VR) head-mounted displays (HMDs) has made immersive simulations with current motion systems more affordable and has enabled VR applications to be offered for recreational uses, such as passive amusement park or arcade driving, first-person rides or flying rides, and in active games where one or more players have some control over the driving, riding, flying, or first-person gaming experience.

[0005] The payload of a motion generator used in motion simulation (e.g. a chassis or a cockpit) is therefore relatively heavy, typically of the order of 100 kg. Motion simulation applications of motion generators require precise control of such relatively heavy payloads over large motions (typically of the order of 1 meter or more).

[0006] The types of hexapods commonly used for motion simulation of human participants usually have a relatively low bandwidth of up to about 20Hz. This means that they can produce oscillatory motion and vibrations of consistent amplitude up to 20 times per second, above which the amplitude of the motion decreases as the frequency increases. This is sufficient to replicate most car suspension motions, but it will not transmit frequency content associated with vibrations from a car engine, tire vibrations, road noise, and sharp curbs on a racetrack. Low bandwidth also means that the signal is delayed, which means that the driver cannot respond quickly enough.

[0007] Current motion systems, especially those used for high-end uses such as military and commercial flight instruction and training applications, are typically very large, heavy, complex, and very expensive. Their complexity requires extensive programming and maintenance, further increasing costs for users.

[0008] Companies such as McLaren / MTS Williams / ABD and Ansible have developed dedicated driving simulator motion systems, but these tend to be extremely mechanically complex and therefore expensive, with precision machined custom parts and often expensive linear motors. These dedicated driving simulator motion systems are more agile than hexapods in some directions, but are still limited in others. The use of ball screws in such systems is disadvantageous in that, while positioning is well established, they inhibit force transfer and can only achieve low bandwidth. This results in a less natural experience for the human user.

[0009] US5,919,045 discloses an interactive racing simulator comprising a main motion generator comprising a simple arrangement of overlapping rectangular frames which move in the X and Y directions respectively on linear guides under pneumatic control and are referred to as "X and Y frames". Although the simple arrangement of X and Y frames of the type disclosed in this document provides good deflection in the X and Y directions, it is not compact in the vertical dimension because the X and Y frames are stacked on top of each other in the motion generator. In addition, the movement in the X and Y directions is not particularly precise and also has a relatively low bandwidth. It is not a parallel mechanism type arrangement. Another X and Y frame arrangement is disclosed in GB2474279A. A further X and Y arrangement is disclosed in FR2677155A.

[0010] In all of the above-mentioned prior art motion generator arrangements, the X-axis and the Y-axis are arranged in series with each other. Assuming that the X-axis is connected to the ground, this means that the forces associated with the motion on the Y-axis need to be transferred to the ground through the X-axis. This indirect load path inevitably introduces compliance, thereby reducing the responsiveness and bandwidth of the known motion generators.

[0011] An example of a main motion generator with a payload including another motion generator is given in EP2810268A, which discloses a three-degree-of-freedom motion generator connected in series with a six-degree-of-freedom motion generator, which can use the main motion generator to maintain a large motion in the horizontal plane while achieving the maximum vertical stroke of the secondary motion generator. Therefore, the two motion generators in series can achieve a combination of motions in different degrees of freedom, which is impossible for a hexapod of similar size. However, to achieve this, it uses an extremely large, heavy and complex planar support system that relies on a precision-machined metal base and magnetically preloaded air bearings. This requires a lot of construction work to integrate the driving simulator into any building, and the setup to ensure planarity is difficult and time-consuming. The metal base is expensive because it has a large surface area and must be precisely machined to ensure flatness. Air bearing units are complex, require an air supply, and they require a fail-safe mechanism to prevent permanent magnets from permanently bonding to the metal base.

[0012] US2017 / 0053548A discloses a motion system comprising a cable / actuator controlled platform that is capable of sliding on a large, low friction fixed base and allowing significant horizontal motion of the platform. The cables and actuators are arranged around the periphery of the large base, allowing significant horizontal motion of the platform. A hexapod-based secondary motion generator is in turn mounted on the platform and supports a model cockpit to provide further motion of the cockpit. The system is not compact and has poor bandwidth.

[0013] WO2017 / 021323 from the same applicant as EP2810268A discloses another cable-controlled motion generator. The cables in this motion generator are moved by arranging a series of large pulleys to move a central actuator. The high inertia of the pulleys inhibits high bandwidth operation. This system requires large, expensive and complex planar bearing surfaces, while the motion generator of the present invention has load bearing capabilities built into its own mechanism.

[0014] The object of the present invention is to provide an improved motion generator and an improved motion system, as well as other embodiments such as a motion simulator comprising such a motion generator. Summary of the invention

[0015] According to one aspect of the present invention, there is provided a main motion generator suitable for use in a motion simulator and capable of moving a main payload of 80 kg or more above a surface, the main motion generator being a parallel mechanism comprising: a) a main frame or platform for supporting a main payload of 80 kg or more (14), b) three elongated linear guides arranged in a planar array transversely to each other below the frame, and c) at least one actuator arranged on each linear guide above the surface and capable of being controlled to move the linear guides, thereby enabling the main payload of 80 kg or more to move in at least three degrees of freedom.

[0016] The main motion generator according to the present invention provides motion in three degrees of freedom. The main motion generator according to the present invention can be more rigid or less flexible than known motion generators (especially those based on X and Y frame arrangements as described above). The main motion generator according to the present invention can provide relatively large motion in the longitudinal / surge, lateral / sway and yaw directions. For example, the motion generator according to the present invention can have a minimum offset radius of about 0.5 meters, that is, its platform can move about 0.5 meters in the X and Y directions at the same time. For example, the motion generator according to the present invention can have a minimum offset radius of 0.49 to 0.6 meters. The preferred motion generator according to the present invention can have a minimum offset radius of 0.5 to about 1 meter or more, preferably 1.5 meters or more. Therefore, the motion generator according to the present invention is very suitable for land vehicle / driving simulation because it has a considerable travel in the surge, sway and yaw motion, while the heave, pitch and roll degrees of freedom can be provided by a more moderate secondary motion generator system connected in series with the main motion generator in the motion system. This makes the motion system of the present invention more compact in the vertical direction than a hexapod-based motion generator system, facilitating easier installation, accommodation and access. The position of the driver or pilot on a typical hexapod-based motion generator for a driving simulator will be more than one meter from the ground, while for the motion system according to the present invention, it may be less than half a meter. As a 6DOF parallel mechanism, the offset capability of the hexapod is highly coupled in each degree of freedom. For example, if it is brought into a fully forward longitudinal position, it cannot produce a heaving motion without introducing other unwanted motions. Such other unwanted motions can be avoided in a primary motion generator or combination according to the present invention as described below. Although described as a "primary" motion generator, in certain applications, the primary motion generator of the present invention can be used in series with another motion generator that may have the same design, thereby becoming a secondary motion generator.

[0017] In the context of the present invention, the payload of the primary motion generator is typically greater than 80 kg. The primary payload may include a human user, or a vehicle or a model of all or part of a vehicle. Thus, the payload may typically be greater than about 80 kg, or greater than about 250 kg, or greater than about 500 kg, or greater than about 2 tons (e.g. in the form of a complete vehicle chassis).

[0018] The elongated linear guides may form a star array, such as a delta star array, or otherwise extend radially, and / or extend outwardly from a common center point. Typically, each guide is at a 120 degree angle to the other guide, as this may be optimal in most cases, but this is not required.

[0019] The linear guide is parallel to the common base plane. At least two of the linear guides, preferably three of the linear guides can be adjacent or connected to each other. The linear actuator can be a linear motor, a rack and pinion, a belt drive, a cable drive or based on a ball screw. There may be more than three linear actuators. For example, there may be six linear actuators. The linear actuators can be arranged in a roughly triangular array. Preferably, the linear actuators are arranged in a planar array. The linear actuator can move the main frame by applying a propulsion force to the bracket, wherein the bracket connects the linear actuator to the linear guide and can move along the linear guide, so that the propulsion force is transmitted from the actuator to the main frame via the bracket and the linear guide by applying a force, the force includes a component normal to, i.e., perpendicular to the axis of motion of the linear guide, and the force applied at one linear guide in such a way is transmitted through the main frame and causes the other linear guides to travel along their axis of motion. The linear actuator can be connected to the bracket of the corresponding linear guide by a joint, a bearing, a swivel joint, a spherical joint or a thrust bearing. Preferably, the or each linear actuator is connected to a respective bracket associated with the linear guide by a ball joint. Hexapods and other motion generators typically generate motion using ball screw actuators, which inherently have significant friction. This friction manifests as a step force input to the system as the system passes through zero speed. This interference limits the bandwidth over which such a system can be controlled. Therefore, the main motion generator of the present invention is superior to such ball screw based motion generators. All or some of the linear actuators may be mounted on a surface.

[0020] An advantage of the motion generator of the present invention is that it has inherently low friction in its moving parts, namely its linear guides, actuators (assuming they are not of the ball screw type) and joints.

[0021] Compared to the system of EP2810268, for example, the main motion generator of the present invention eliminates the need for a complex planar air bearing arrangement and uses a series of linear bearings, which are inexpensive components that are readily available on the market. In addition, the system of EP2810268 mentioned above also has independent bearings and drive mechanisms, while in the main motion generator of the present invention, the bearings and drive mechanisms are combined together, thereby simplifying the system and further reducing costs.

[0022] In addition to ball screw actuators, the main motion generator of the present invention is also applicable to a wide range of actuator technologies, such that the motion system can be controlled to higher bandwidth and lower latency. Such actuator technologies include linear motors and belt drives.

[0023] The actuator technology that can be used in the present invention also enables the motion system to be back-driven, which can find useful applications in entertainment and training scenarios, where the user can move their body or apply forces to the main and / or motion generators as appropriate to provide input for the simulated experience. For example, in a skiing simulation using the main motion generator of the present invention in the motion system, the movement of the user's body will apply forces to the motion generator platform, which will change its position, velocity and / or acceleration, which can be measured by the control system and used as input related to the position of the snowboard, which will then affect the skiing simulation in the virtual environment. Thus, the platform can represent, for example, a snowboard, a surfboard or a skateboard. The main motion generator can include at least one safety end stop to limit the travel of the frame or platform, including one or more elongated strips between the platform or frame and the surface that limits the movement of the frame or platform. Preferably, there are three or more strips for limiting the movement of the frame. At least one, preferably all of the strips are rigidly fixed at one end and connected in series with a shock absorber, spring or damper at the other end.

[0024] According to another aspect of the present invention, there is provided a combination comprising a motion generator according to the first aspect of the present invention as a primary motion generator, and a secondary motion generator mounted on the primary motion generator as a payload of the primary motion generator. Preferably, the combination is used as a basis for a motion system.

[0025] The primary motion generator may be used in tandem with secondary motion generators that provide additional degrees of freedom in the vertical / heave, roll, and pitch directions.

[0026] While the primary motion generator of the present invention generally has a higher bandwidth than conventional primary motion generators such as those described in US5,919,045 or US2017 / 0053548A, when it is used in series with a secondary motion generator, it will generally have a lower bandwidth than the secondary motion generator because it must also move the relatively heavy main frame. Therefore, having a 6DOF secondary motion generator is advantageous because it can achieve higher bandwidth motion in the horizontal degrees of freedom and provide vertical motion capabilities through the additional degrees of freedom. In accordance with the combination of the present invention, in use, the primary motion generator can operate at a lower bandwidth than the bandwidth of the secondary motion generator. For example, the primary motion generator can operate at about 5 Hz to about 20 Hz, and the secondary motion generator can operate at a frequency of about 30 Hz to 100 Hz or higher.

[0027] Thus, a motion system used as, for example, a high performance driving simulator will have a 6DOF secondary motion generator, whereas a cheaper recreational motion based system may include a 3DOF secondary motion generator.

[0028] The motion system according to the invention may comprise a primary motion generator according to the invention and a secondary motion generator in series, forming a combination under the control of a control device, i.e. a control system. Thus, the motion system can create its full range of vertical motions, regardless of the horizontal orientation. Furthermore, the primary motion generator can access a larger part of its radial operating envelope at different pitch angles compared to a hexapod. This is very useful in land vehicle simulations, since vehicles often experience high lateral or longitudinal accelerations at the same time as pitch accelerations. Therefore, it is advantageous to be able to simultaneously generate lateral or longitudinal accelerations requiring lateral or longitudinal motions of the primary motion generator and pitch accelerations requiring pitch motions.

[0029] Preferably, the secondary motion generator used in combination with the primary motion generator in a combination according to the present invention will have three or more degrees of freedom, i.e. three, four, five or six or more degrees of freedom. In one embodiment, the secondary motion generator has six degrees of freedom, providing the required additional three degrees of freedom (heave, pitch and roll), while also providing three redundant degrees of freedom (the pitch, roll and heave already provided by the primary motion generator). In some cases, this redundancy may be useful. For example, it may be possible to increase the range of motion produced by the primary motion generator. In addition, it may be possible to provide a greater bandwidth in the redundant degrees of freedom than the primary motion generator can provide.

[0030] The primary motion generator of the present invention, when used in tandem with a secondary motion generator, is well suited for simulation of land vehicles and is superior to a ball screw hexapod in these applications for some or all of the reasons described below. First, it can operate more compactly within a workspace optimized for land vehicle simulation. Second, in operation, it has less undesirable cross-coupling between degrees of freedom, i.e., it reduces undesirable restrictions on motion in one direction (e.g., yaw) when the system is already extended in another direction (e.g., sway) as mentioned above that can be associated with hexapod-based motion systems. Third, it has higher bandwidth and lower latency than conventional similar motion generators and can be backdriven.

[0031] According to another aspect of the invention, a vehicle simulator is provided, comprising a main motion generator according to the invention or a combination comprising such a motion generator, a motion system according to the invention, or a motion system according to the invention, and a cockpit or chassis and / or other vehicle simulation elements. The vehicle simulator may comprise means for simulating an environment, including at least one of a display device, a virtual reality device, a projection device, and software means for modeling a virtual environment and a vehicle model.

[0032] In a further aspect of the invention, a method of manufacturing a motion generator or combination according to the invention, or a method of vehicle or vehicle component design is provided, any method comprising using a motion generator according to the invention, a combination according to the invention, or a vehicle simulator according to the invention. Other aspects of the invention are set out in the following description and include a gaming device. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Reference will now be made to the accompanying drawings, which are presented by way of example only. Figures 1 to 37 A motion generator, a motion system and a driving simulator according to the present invention and their operation and manufacture are described, wherein:

[0034] Figure 1 is a perspective view of a motion system including a primary motion according to the present invention with a base;

[0035] Figure 2 For a case where there is no base in a neutral position Figure 1 A plan view of the movement system as viewed from below;

[0036] Figure 3 shows the case without a base Figure 1 A detailed schematic diagram of a motion system showing the main motion generator;

[0037] Figure 3A For those without base Figure 1 A further detailed view of the main motion generator of the motion system;

[0038] Figure 4 For the vehicle without a base in a forward swinging state Figure 1 A perspective view of a motion system showing a main motion generator;

[0039] Figure 5 For those without base Figure 4 The motion system shown in is a plan view from below;

[0040] Figure 6 For the case where there is no base in the backward swing state Figure 1 A perspective view of a motion system showing a main motion generator;

[0041] Figure 7 For those without base Figure 6 The motion system shown in is a plan view from below;

[0042] Figure 8 for Figure 1 The motion system of the present invention has no base and shows a perspective view of the main motion generator in a rightward swing state;

[0043] Fig. 9 For those without base Figure 8 Bottom view of the motion system shown in ;

[0044] Fig.10 For the case where there is no base and the vehicle is in a leftward swinging state Figure 1 A perspective view of a motion system showing a main motion generator;

[0045] Fig.11 For those without base Fig.10 The motion system shown in is a plan view from below;

[0046] Fig.12 For the counterclockwise swing without base Figure 1 A perspective view of a motion system showing a main motion generator;

[0047] Fig.13 For those without base Fig.12 The motion system shown in is a plan view from below;

[0048] Fig.14 A perspective view of a secondary motion generator used in a motion system according to the present invention without a base and in a neutral state;

[0049] Fig.15 For those without base Fig.14 A plan view of the secondary motion generator shown in FIG. 1 as viewed from below;

[0050] Figure 16 shows a case without a base Fig.14 An elevation view of the secondary motion generator shown in ;

[0051] Fig.17 For Fig.14 A more detailed elevational view of a portion of the secondary motion generator shown in FIG.

[0052] Figure 18 shows a case without a base Fig.14 A perspective view of the secondary motion generator shown in FIG. 1 as viewed from below;

[0053] Fig.19 For a case where no base is in the neutral position Fig.14 Another perspective view of the secondary motion generator shown in;

[0054] Fig. 20 For a unit without a base in forward swing configuration Fig.14 A plan view of the secondary motion generator shown in FIG. 1 as viewed from below;

[0055] Fig.21 For the case where there is no base in the backward swing state Fig.14 A plan view of the secondary motion generator shown in FIG. 1 as viewed from below;

[0056] Fig. 22 For a left swing configuration without a base Fig.14 A plan view of the secondary motion generator shown in FIG. 1 as viewed from below;

[0057] Fig.23 For a vehicle without a base in a right swing configuration Fig.14 A plan view of the secondary motion generator shown in FIG. 1 as viewed from below;

[0058] Fig.24 For no base in an upward swing configuration Fig.14 A plan view of the secondary motion generator shown in FIG. 1 as viewed from below;

[0059] Fig.25 For configurations where no base is in downward swing Fig.14 A plan view of the secondary motion generator shown in FIG. 1 as viewed from below;

[0060] Fig.26 For the right side downward roll configuration without the base Fig.14 A plan view of the secondary motion generator shown in FIG. 1 as viewed from below;

[0061] Fig. 27 For no base in right side up roll configuration Fig.14 A plan view of the secondary motion generator shown in FIG. 1 as viewed from below;

[0062] Fig.28 For aircraft without a base in nose down pitch configuration Fig.14A plan view of the secondary motion generator shown in FIG. 1 as viewed from below;

[0063] Fig.29 For aircraft without a base in nose-up pitch configuration Fig.14 A plan view of the secondary motion generator shown in FIG. 1 as viewed from below;

[0064] Fig.30 For aircraft without base in nose left pitch configuration Fig.14 A plan view of the secondary motion generator shown in FIG. 1 as viewed from below;

[0065] Fig.31 For aircraft without base in nose right pitch configuration Fig.14 A plan view of the secondary motion generator shown in FIG. 1 as viewed from below;

[0066] Fig.32 Shows a perspective view from above and from one side of another motion system according to the invention, comprising a primary motion generator and a secondary motion generator;

[0067] Fig.33 Shown in plan view Fig.32 movement system;

[0068] Fig.34 for Fig.32 A detailed schematic diagram of a portion of a secondary motion generator in a motion system;

[0069] 35 shows a perspective view from above and from one side of another motion system according to the invention, comprising a primary motion generator and different secondary motion generators;

[0070] Fig.36 is a perspective view of a driving simulator including a motion system according to the present invention; and

[0071] Fig.37 1 is a diagram illustrating a control system for use with a motion generator, motion system or motion simulator according to the present invention. DETAILED DESCRIPTION

[0072] Embodiments including motion generators, motion systems and vehicle / driving simulators according to the present invention and methods of use and manufacture thereof will now be described by way of example only. It will be appreciated by those skilled in the art that many further embodiments may be realized within the scope of the present invention.

[0073] Main Motion Generator

[0074] Figure 1The motion system 1 shown comprises a primary motion generator 10 according to the first aspect of the invention. The primary motion generator 10 comprises a support frame 11 arranged for movement over a surface 12. The surface 12 is typically flat.

[0075] The frame 11 is made of a lightweight material, such as aluminum or carbon fiber, and a triangular perimeter is described in the illustrated embodiment. Other frame shapes such as rectangular or circular are also possible. The frame 11 supports a chassis 14, which in this case replicates a portion of a car. The chassis 14 constitutes the payload of the motion generator, which, together with the weight of any user, is approximately 1000 kg. Other types of chassis known to the skilled person can be used. For example, a car body chassis optimized for use in a simulator weighs approximately 500 kg. A fully loaded car weighs approximately 2 tons. A racing car chassis is typically made of carbon fiber and weighs only 250 kg including the driver. The movement of the frame 11 is provided by the interaction of elongated linear guides 21, 22, 23, linear actuators 31, 32, 33 mounted on the surface 12, and corresponding linear actuator brackets 41, 42, 43, wherein the elongated linear guides 21, 22, 23 are arranged in a triangular star arrangement below the frame 11 (particularly as Figure 2 As shown in FIG. 1 , the frame 11 is mounted on linear actuator brackets 41, 42, 43. The linear actuator brackets 41, 42, 43 are driven by linear actuators 31, 32, 33, respectively. The linear guides 21, 22 and 23 mounted in a common base plane are precisely formed of metal such as aluminum, steel, etc. The linear actuators 31, 32, 33 in this embodiment are belt driven units, but may alternatively be actuators driven by, for example, linear motors or ball screws.

[0076] The brackets 41, 42, 43 are arranged to be in contact with the main motion generator control system (in Fig.37 31, 32 and 33 under the command of the respective linear actuators 31, 32 and 33. Each bracket 41, 42, 43 includes an upper bracket component or bearing race (41U, 42U and 43U, respectively) which engages the associated linear guide 21, 22 and 23 and is connected to a lower bracket component or bearing race (41L, 42L, 43L, respectively) by a swivel joint, and the lower bracket component or bearing race is fixed to the connected linear actuator 31, 32 or 33, respectively. For example, as Figure 3A As shown, the carriage 41 comprises an upper carriage member 41U and a lower carriage member 41L, interconnected by a revolute joint 41RJ having an axis perpendicular to the common base plane. The revolute joint may be replaced with a self-aligning or spherical bearing to accommodate any small lack of flatness in the three linear guides or the three actuators.

[0077] Surface 12 may be the floor of the building in which primary motion generator 10 is located, or may be a specific support surface member mounted on such a floor. As described above, an advantage of the primary motion generator of the present invention is that it does not require the precision machined metal floor surface required by some prior art motion generators.

[0078] Figure 1 -3 shows the main motion generator 10 in a neutral state. In this state, the positions of the upper and lower bracket components of the brackets 41, 42 and 43 are:

[0079]

[0080] Operation of the main motion generator

[0081] The main motion generator 10 is in the control system (not in Figures 4 to 13 , but for example Fig.37 ) as shown in Figures 4 to 13 Operate as described.

[0082] Figure 4 and Figure 5 Show Figure 1 The motion generator is in a forward swing state. In this state, the positions of the upper bracket parts and the lower bracket parts of the brackets 41, 42 and 43 are:

[0083]

[0084] Figure 6 and Figure 7 Show Figure 1 The main motion generator 10 is in a backward swing state. In this state, the positions of the upper bracket parts and the lower bracket parts of the brackets 41, 42 and 43 are:

[0085]

[0086] Figure 8 and Fig. 9 Show Figure 1 The motion generator is in a rightward swinging state. In this state, the positions of the upper bracket parts and the lower bracket parts of the brackets 41, 42 and 43 are:

[0087]

[0088] Fig.10 and Fig.11 Show Figure 1 The motion generator is in a leftward swinging state. In this state, the positions of the upper bracket parts and the lower bracket parts of the brackets 41, 42 and 43 are:

[0089]

[0090] Fig.12 and Fig.13 Show Figure 1 The motion generator is in a counterclockwise vertical shaking state. In this state, the positions of the upper bracket parts and the lower bracket parts of the brackets 41, 42 and 43 are:

[0091]

[0092] On the contrary, in the clockwise tilting state, the positions of the upper bracket parts and the lower bracket parts of the brackets 41, 42 and 43 are:

[0093]

[0094] Secondary Motion Generator

[0095] Figures 14 to 31 A secondary motion generator 48 is shown, which is intended to be used together with the primary motion generator ( Figures 14 to 31 ) are used in combination to form a motion system.

[0096] The secondary motion generator 48 comprises a triangular frame 49 which is generally similar in construction to the primary motion generator support frame 11 described above. Downwardly extending forward and rearward rigid tubular or solid frame members 50 and 52 are respectively secured to a chassis 114 or an intermediate platform or frame on which the chassis 114 is mounted. It can be seen that the chassis 114, which constitutes the payload of the secondary motion generator in this example, represents a racing car and weighs approximately 250 kg. Elongated suspension elements 54, 55 and 56 are connected at one end thereof to the front or rigid rear frame members 50, 52 and at the other end to rigid upwardly extending mountings 58, 59 and 60 which extend from the frame 49 to facilitate suspension of the chassis 114. The mountings 58, 59 and 60 may be secured to the frame 49 or integral with the frame 49.

[0097] A series of pairs of linear actuators 62, 63, 64, 65 and 66, 67 are disposed within the perimeter of the frame 49. In this embodiment, the linear actuators 62-67 are belt driven. Other low moving mass actuators are also contemplated, such as linear motors. As shown in FIG. 18, corresponding pairs of elongated tensile members 72, 73, 74, 75 and 76, 77 are secured at one end to the linear actuator brackets 62C, 63C, 64C, 65C, 66C and 67C and at their other ends to the chassis 114 or intermediate platform or frame. In use, the linear actuator brackets 62C, 63C, 64C, 65C, 66C and 67C are moved in accordance with a secondary motion generator control system (e.g., Fig.37) are driven linearly in either longitudinal direction by linear actuators 62-67, respectively, to move the suspended chassis 114 with high bandwidth motion.

[0098] The operation of the secondary motion generator 48 and the movement of the actuator brackets in response to commands from the control system to move the chassis 114 in six degrees of freedom will now be described. Figure 14-20 The display shows the neutral state.

[0099] exist Fig.21 In the forward swing condition shown, the positions of the actuator brackets 62C, 63C, 64C, 65C, 66C and 67C are as follows:

[0100]

[0101] exist Fig. 22 In the rearward swing condition shown, the positions of the actuator brackets 62C, 63C, 64C, 65C, 66C and 67C are as follows:

[0102]

[0103] exist Fig.23 In the left swing condition shown, the positions of the actuator brackets 62C, 63C, 64C, 65C, 66C and 67C are as follows:

[0104]

[0105] exist Fig.24 In the right swing condition shown, the positions of the actuator brackets 62C, 63C, 64C, 65C, 66C and 67C are as follows:

[0106]

[0107] exist Fig.25 In the downward swing state shown, the positions of actuator brackets 62C, 63C, 64C, 65C, 66C and 67C are as follows:

[0108]

[0109] In contrast, in the upward heave state, the positions of actuator brackets 62C, 63C, 64C, 65C, 66C and 67C are as follows:

[0110]

[0111] exist Fig.26 In the right side roll down condition shown, the positions of actuator brackets 62C, 63C, 64C, 65C, 66C and 67C are as follows:

[0112]

[0113] exist Fig. 27 In the right side up roll position shown, the positions of actuator brackets 62C, 63C, 64C, 65C, 66C and 67C are as follows:

[0114]

[0115] exist Fig.28 In the nose down pitch configuration shown, the positions of actuator brackets 62C, 63C, 64C, 65C, 66C and 67C are as follows:

[0116]

[0117] exist Fig.29 In the nose-up pitch configuration shown, the positions of actuator brackets 62C, 63C, 64C, 65C, 66C and 67C are as follows:

[0118]

[0119] exist Fig.30 In the nose pitching position shown, the positions of actuator brackets 62C, 63C, 64C, 65C, 66C and 67C are as follows:

[0120]

[0121] exist Fig.31 In the nose pitch right position shown, the positions of actuator brackets 62C, 63C, 64C, 65C, 66C and 67C are as follows:

[0122]

[0123] In practice, in the motion system of the present invention, the secondary motion generator 48 is located between the primary motion generator (e.g., 100) and the chassis (e.g., 114), and when in operation provides additional or alternative (i.e., redundant) motion generated by the primary motion generator 100 and applied to the chassis 114.

[0124] exist Fig.32 35 , a motion system comprising a primary motion generator according to the present invention and different secondary motion generator configurations is shown.

[0125] Motion system based on primary motion generator and 6DOF secondary motion generator

[0126] The motion system 80 according to the present invention comprises a primary motion generator 82 and a 6DOF secondary motion generator 84 according to the first aspect of the present invention. Figures 32 to 34The motion system 80 is located on the surface 86 .

[0127] The main motion generator 82 is as above, for example Figure 1 As described above, only the secondary motion generator 84 and the chassis 88 replace the chassis 14 as the effective load of the main motion generator.

[0128] The chassis 88 is suspended from a triangular support frame 89 by elongated resilient members 90, 91, 92. Pairs of elongated tensile members or struts 96a, 96b, 97a, 97b and 98a, 98b are each connected at one end to the chassis 88 and at their other ends to outwardly facing rockers 96rf, 96rr, 97rl, 97rr and 98rr, 98rf respectively. Fig.34 This arrangement is shown in more detail in FIG. Fig.34 As shown, the rockers 98rr and 98rf on the right side of the secondary motion generator are free to pivot in the horizontal plane and are in turn connected by toothed belts 98br and 98bf, which mesh with corresponding toothed capstans 98cr and 98cf of the actuators, which are arranged along the frame 89 (for clarity) Fig.34 One end of each belt 98br, 98bf is connected to an elongated tension member 98a and 98b, respectively, and each belt 98br, 98bf extends around a capstan 98cr and 98cf, respectively, and then is connected to a passive tension member 98tmr and 98tmf, respectively, such as a spring or elastic rope, or a similar passive tension element, fixed to a support frame (omitted for clarity). Similar pairs of elongated tension members, rockers, toothed belts, toothed capstans and passive tension members are arranged on the other side of the triangular frame 89 and operate in a corresponding manner.

[0129] The rotational position of the capstan of the actuator (e.g. 98cr and 98cf) is controlled by a control system (e.g. Fig.37 Thus, the motion of the actuator capstans (e.g., 98cr and 98cf) drives the belts (e.g., 98br, 98bf) to resist or facilitate the motion of the tension applied by the passive tensile members (e.g., 98tmr, 98tmf) to change the position of the connected rockers (98rr, 98rf) and in turn the position of the elongated tensile members (e.g., 98a, 98b) connected to the rockers (98rr, 98rf), producing motion of the chassis 88 in six degrees of freedom. High bandwidth can be achieved using this secondary motion generator design.

[0130] Furthermore, advanced motions / configurations can be achieved through the combination of advanced primary motion generators and secondary motion generators.

[0131] The primary motion generator 82 can produce large displacements but has a more limited bandwidth, while the secondary motion generator 84 can only produce small displacements but has a much higher bandwidth. This series configuration promotes a combination of large amplitude and high frequency motion in the following manner. In the case of high frequency motion, the secondary motion generator 84 will apply the required acceleration force to the payload and react to the acceleration force against the inertia of the primary motion generator, thereby propelling the payload in the desired direction while resisting the primary motion generator 82 to react and actually push it in the opposite direction. Therefore, the reaction force from the secondary motion generator 84 to the primary motion generator 82 will actually drive the primary motion generator 82 backward in the direction opposite to the direction of motion of the payload 88. This is completely acceptable for high frequency motion. For low frequency motion, the secondary motion generator 84 will apply a driving force on the payload 88, while the primary motion generator 82 will simultaneously apply an acceleration force on the secondary motion generator 84 to react to the reaction forces from the payload 88 and the secondary motion generator 84 all the way to the ground. In this case, the relative motion of the secondary motion generator 84 with respect to the payload 88 is very small, and the primary motion generator 82 can be driven with a motion profile (i.e., a series of motions performed by the motion generator over a period of time) that is very similar to the horizontal motion required by the payload.

[0132] Motion system based on primary motion generator and 3DOF secondary motion generator

[0133] Another motion system 101 according to the present invention is shown in Figure 35. The motion system comprises a main motion generator 102 according to the first aspect of the present invention, for example as described above with respect to Figure 1 As described, and a relatively simple 3DOF motion generator 104, is used to support a payload such as a chassis 106, where motion is provided by vertical actuators 110, 112 (including other vertical actuators that are obscured). For example, the vertical actuators 110, 112 can be D-box type actuators. Other types of actuators are also contemplated, such as hydraulic jacks or linear actuators. The secondary motion generator 104, together with any chassis (such as 106) mounted thereon, becomes the payload of the primary motion generator, and the secondary motion generator 104 can only move in three degrees of freedom, but may be relatively low in cost (because it is relatively simple) compared to other secondary motion generators expected to be used in the motion system of the present invention. A constraint system (not shown) is required to maintain the position of the chassis relative to the main frame in three horizontal degrees of freedom that are not controlled by the 3DOF system.

[0134] Control System

[0135] Fig.37 A control system 501 for controlling the operation of a motion generator according to the present invention is shown. Fig.37, the motion generator is 502, but the control system 501 is applicable to other motion generators, motion systems and motion simulators described in this article) and the related simulation environment 503.

[0136] The control system 501 includes a motion controller 504 executing a computer program, preferably in a deterministic or real-time manner, which obtains motion demand input 505 from a demand generator such as a simulation environment 503 or a set point generator 506. The motion controller calculates the position, acceleration and / or force 507 that needs to be generated at each actuator 509 in order to generate the required motion profile. The control system 501 also includes a servo drive 508, which provides a precisely controlled current 510 to drive the actuator 509.

[0137] In operation, the motion controller sends a desired position or force 507 to each servo drive 508. The actuator 509 has a motion measurement device 511, such as an encoder, which provides motion feedback 512 to the motion controller, optionally through a servo drive. The motion controller compares the desired motion profile with the measured motion profile 512 and updates the actuator demand 507 accordingly.

[0138] Fig.37 Also shown is a control system having a simulated environment 503, such as a driving simulation, in which the physical characteristics of a simulated vehicle and its environment (such as a racetrack or city roads) are calculated. In this embodiment, the control system 501 receives motion demands from the simulated environment 503, representing the motion of a virtual vehicle. A computer program determines the motion of the vehicle in the virtual world 514, and then applies a motion cueing algorithm 513 (MCA, also known as a washout filter) to convert the simulated vehicle motion into motion that can be represented by a motion generator. These calculated motions are then provided to the control system as motion demand inputs 505. The MCA 513 can be part of the simulation environment 503 or the control system 501, or separate from both. The simulation environment 503 can receive input signals 515, such as steering, throttle or brake inputs, from a control device 516, which an operator, i.e., a human user such as a driver, passenger or pilot, uses to control the virtual vehicle in the simulation environment. The operator may be a passenger on the motion generator 502. These inputs 515 can be transmitted back to the simulation environment through the control system or directly. The simulation environment may also generate output for the driver, passenger or other user or operator on a visual display 517. The simulation environment may also require additional data 518 from the control system, such as related to the position of the motion generator, or control device input signals.

[0139] Driving simulator

[0140] Fig.36 2 shows a driving simulator 200 including a motion system 202, which includes a combination of a primary motion generator and a secondary motion generator according to the present invention. The motion system 202 is controlled by a control system 205 (e.g., Fig.37 The motion system 202 is directed toward the projection system 204, on which the driving environment is simulated, and the motion system 202 is controlled by a control system 202 (shown in FIG. 2 ), and the driving environment is simulated. An additional sound system (also not shown) provides an immersive experience for the user (i.e., the "driver"). The driver interacts with the simulated driving environment by actuating the steering system, which measures the driver's steering input angle and provides torque feedback to the wheels through a steering actuation system or a steering motor. In addition, the driver can provide input to the simulated driving environment through pedals and other switches, knobs, and touch screen devices used to control the vehicle in the simulation. A computer program representing a vehicle model encapsulates the physical characteristics of a real vehicle, and the computer program will also form part of the simulation and interact with the control system.

[0141] Manufacturing of motion generators, motion systems and driving simulators

[0142] The motion generator and motion system according to the present invention can be assembled by conventional methods from a combination of custom and standard components to manufacture the novel motion generator and motion system of the present invention. Control devices suitable for controlling the operation of the motion generator and motion system according to the present invention can similarly be manufactured by conventional methods.

Claims

1. A main motion generator (10, 82, 102) for use in a motion simulator for moving a main payload (14) of 80 kg or more above a surface (12), the main motion generator (10, 82, 102) being a parallel mechanism, the main motion generator comprising: a) a main frame or platform (11) for supporting a main payload (14) of 80 kg or more, b) three elongated linear guides (21, 22, 23) arranged transversely to each other in a planar array beneath the main frame or platform (11), wherein the elongated linear guides (21, 22, 23) converge toward a common center point, c) at least one actuator (31, 32, 33) disposed on each linear guide (21, 22, 23) above the surface and capable of controllably moving the linear guide (21, 22, 23) so that the main frame or platform and a payload of 80 kg or more can move in at least three degrees of freedom, The actuator (31, 32, 33) moves the main frame or platform (11) by applying a propulsion force to a bracket (41, 42, 43), wherein the bracket connects the actuator (31, 32, 33) to a linear guide (21, 22, 23) and is movable along the linear guide (21, 22, 23), so that the propulsion force is transmitted from the actuator (31, 32, 33) to the main frame or platform (11) via the bracket (41, 42, 43) and the linear guide (21, 22, 23) by applying a force, the force including a component normal to / perpendicular to the axis of motion of the linear guide, in such a way that the force applied at one linear guide is transmitted through the main frame or platform (11) and causes the other linear guide to move along its axis of motion.

2. The primary motion generator (10, 82, 102) according to claim 1, wherein: At least two of the linear guides abut each other.

3. The primary motion generator (10, 82, 102) according to claim 1, wherein: There are six actuators (31, 32, 33).

4. The primary motion generator (10, 82, 102) according to claim 1, wherein: The actuators (31, 32, 33) are linear actuators, which include one or more of a linear motor, a rack and pinion based actuator, a belt driven actuator or a cable driven actuator.

5. The main motion generator according to claim 4, wherein: The linear actuators are arranged in a triangular array.

6. The primary motion generator (10, 82, 102) according to claim 5, wherein: The linear actuators are arranged in a planar array.

7. The primary motion generator (10, 82, 102) according to claim 1, wherein: The at least one actuator (31, 32, 33) is connected to the bracket of the corresponding linear guide through a joint or a bearing.

8. The primary motion generator (10, 82, 102) according to claim 7, wherein: The joint is a rotary joint.

9. The primary motion generator (10, 82, 102) according to claim 7, wherein: The joint is a spherical joint.

10. The primary motion generator (10, 82, 102) according to claim 7, wherein: The bearing is a thrust bearing.

11. The primary motion generator (10, 82, 102) according to claim 1, wherein: The actuators (31, 32, 33) are mounted on the surface.

12. The primary motion generator (10, 82, 102) according to claim 1, wherein: The weight of the main payload is greater than 100 kg.

13. The primary motion generator (10, 82, 102) according to claim 1, wherein: The primary payload may include a human user or a vehicle or a model of all or part of a vehicle.

14. A main motion generator (10, 82, 102) according to claim 1, comprising at least one safety end stop to limit the travel of the main frame or platform (11), including one or more slender strips between the main frame or platform (11) and the surface that limits the movement of the main frame or platform (11).

15. The main motion generator (10, 82, 102) of claim 14, comprising three or more straps for limiting the motion of the main frame or platform (11).

16. The primary motion generator (10, 82, 102) according to claim 14, wherein: At least one strap is rigidly fixed at one end and connected in series with a shock absorber, spring or damper at the other end.

17. The primary motion generator (10, 82, 102) according to claim 1, wherein: The payload is a secondary motion generator (48, 84, 104) connected to the primary motion generator (10, 82, 102), wherein, in use, the secondary motion generator (48, 84, 104) is controllable to move a secondary payload (84, 88) of at least 80 kg in one or more degrees of freedom relative to a main frame or platform and therefore relative to a surface.

18. The primary motion generator (10, 82, 102) according to claim 17, wherein: In use, the secondary motion generator (48, 84, 104) is controllable to cause the secondary payload (84, 88) to move in at least three degrees of freedom relative to the main frame or platform (11).

19. The primary motion generator (10, 82, 102) according to claim 17, wherein: In use, the secondary motion generator (48, 84, 104) is controllable to move the secondary payload (84, 88) relative to the main frame or platform (11) in six degrees of freedom.

20. The primary motion generator (10, 82, 102) according to claim 17, wherein: In use, the primary motion generator (10, 82, 102) operates at a lower bandwidth than the bandwidth of the secondary motion generator (48, 84, 104).

21. The primary motion generator (10, 82, 102) according to claim 20, wherein: The at least one actuator (31, 32, 33) of the primary motion generator operates at a frequency of 5 Hz to 20 Hz, and the at least one actuator of the secondary motion generator operates at a frequency of 30 Hz to 100 Hz.

22. The primary motion generator (10, 82, 102) according to claim 17, wherein: The secondary motion generator (48, 84, 104) is connected in series with the primary motion generator (10, 82, 102).

23. The primary motion generator (10, 82, 102) according to claim 17, wherein: At least one of the actuator (31, 32, 33) and the linear guide of the secondary motion generator (48, 84, 104) is mounted on the main frame or platform (11) of the primary motion generator (10, 82, 102).

24. The primary motion generator (10, 82, 102) of claim 17, wherein: The secondary motion generator (48, 84, 104) provides motion of the secondary payload (84, 88) in at least one vertical degree of freedom.

25. The primary motion generator (10, 82, 102) of claim 17, wherein: The secondary payload (84, 88) includes a human user.

26. A motion system comprising a primary motion generator according to claim 1 and a control device for controlling the operation of the primary motion generator.

27. The exercise system of claim 26, wherein: The control device receives input describing the desired position, velocity and / or acceleration of the main frame or platform (11) relative to an origin, which is fixed relative to the surface.

28. The exercise system of claim 26, wherein: The control device receives input describing the desired position, velocity and / or acceleration of the main frame or platform (11) relative to an origin, which is fixed relative to the secondary payload (84, 88).

29. The exercise system of claim 26, wherein: The control device controls the operation of at least one actuator (31, 32, 33).

30. The exercise system of claim 26, wherein: The control device controls the position, velocity and / or acceleration of at least one carriage.

31. The exercise system of claim 26, wherein: The control means uses feedback from the measuring means to control the position, velocity or acceleration of the main frame or platform (11) or carriage.

32. A vehicle simulator comprising a primary motion generator according to claim 1 or a motion system according to claim 26, and a cockpit or chassis and / or other vehicle simulation elements.

33. A vehicle simulator according to claim 32, wherein the vehicle simulator includes a device for simulating an environment, including at least one of a display device, a virtual reality device, a projection device, and a software device for modeling a virtual environment and a vehicle model.

34. The vehicle simulator of claim 32, wherein: The motion of the primary motion generator is controlled to simulate or reproduce the motion of a vehicle being simulated in a virtual environment or computer simulation.

35. The vehicle simulator of claim 32, wherein: The motion of the secondary motion generator is controlled to simulate or reproduce the motion of a simulated vehicle in a virtual environment or computer simulation.

36. A home or commercial gaming device comprising the primary motion generator of claim 1.

37. A home or commercial gaming device comprising the motion system of claim 26.

38. A gaming apparatus as claimed in claim 36 or 37, comprising a control system.

39. The gaming device according to claim 36 or 37 comprises a device for simulating an environment, including at least one of a display device, a virtual reality device, a projection device, and a software device for modeling a virtual environment.

40. The gaming device of claim 38, wherein: In use, movement of a user on a main frame or platform (11) applies forces to the main motion generator (10, 82, 102), causing measurable changes in the position, velocity and / or acceleration of the main frame or platform, which can be detected by the control system and used as input related to the state of the main frame or platform (11), which will then affect the simulation in the virtual environment.

41. A gaming device according to claim 36 or 37, wherein: The main frame or platform (11) represents a set of snowboards, surfboards or skateboards.

42. A method of vehicle or vehicle component design comprising using a primary motion generator according to claim 1.

43. A method of vehicle or vehicle component design comprising use of a vehicle simulator according to claim 32.

44. A method of manufacturing a main motion generator according to claim 1, comprising providing a main frame or platform (11), arranging at least three elongated linear guides laterally to each other below the main frame or platform (11), providing at least one actuator (31, 32, 33) and arranging the actuator (31, 32, 33) laterally on each linear guide above the surface.

45. A method of manufacturing a primary motion generator according to claim 17, comprising manufacturing the primary motion generator by the method according to claim 44 and mounting a secondary motion generator (48, 84, 104) to the primary motion generator (10, 82, 102).

46. ​​A method of manufacturing a gaming device according to claim 38, comprising manufacturing a primary motion generator (10, 82, 102) by the method according to claim 44 and connecting the primary motion generator (10, 82, 102) to a control system.

47. A method of manufacturing a gaming device according to claim 38, comprising providing a primary motion generator according to claim 1, and connecting the primary motion generator (10, 82, 102) to a control system.

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