A multi-degree-of-freedom drive device for VR motion experience

Abstract

This invention discloses a multi-degree-of-freedom driving device for VR motion experience, including a base and a top seat. The base and the top seat are driven by a degree-of-freedom component, and a rotation mechanism is also provided between the base and the top seat. The degree-of-freedom component is a linear output component. This invention abandons the traditional mode of multi-segment coordination using a single linear axis. It achieves mechanical linkage and mutual coordination through specially designed linear output components, generating quick-return characteristics based on mechanical principles. This mechanical coordination enables more rapid and instantaneous adjustments to the user during VR simulation entertainment. It can better match the simulation needs of VR simulation environments, especially those with a fast pace and high excitement, and achieve more realistic human-computer interaction with the user through simulated dynamics. In actual use, it can provide users with a more comprehensive and realistic haptic simulation, effectively meeting practical needs and usability requirements.

Description

Technical Field

[0001] This invention relates to the field of VR motion equipment technology, and in particular to a multi-degree-of-freedom drive device for VR motion experience. Background Technology

[0002] VR motion experience devices are widely used in the entertainment industry, such as VR cinemas and commercial game consoles. They combine VR film and television visuals with special effects to bring viewers into virtual motion scenes, giving them an immersive and realistic experience. These devices are essentially a variation and application of parallel robots, using parallel mechanisms as a carrier to combine linear and rotary axes into a closed motion chain. Generally speaking, the more linear axes there are, the more flexible and diverse the motion experience can be.

[0003] Existing VR motion experience devices also suffer from some of the drawbacks of parallel robots. In addition to material selection issues such as instability at low speeds and easy leakage in hydraulic transmissions, their transformation into entertainment devices also faces some substantive problems, such as: (1) stepless linear output (such as servo cylinders as linear axes) cannot realistically simulate the instantaneous and rapid environment when used in conjunction with VR effects; because cylinder telescopic parts have fixed design parameters, including load-bearing capacity, speed, stroke, etc., their lateral load-bearing capacity is weak, and they are suitable for parallel robot mechanisms with high precision, simple control, and single motion characteristics in industrial applications; and As a VR haptic experience device, it is not very suitable. (2) The linear axis and the platform are only connected by a single rotary joint. It moves in a straight line and relies on the program and sensors to alleviate the rigid impact during the reversal, resulting in a stiff haptic experience for the user. (3) The rotary structure in the existing technology is mainly connected to the initial connection end of the linear axis device. Considering the hydraulic or electrical circuit of the linear axis, it cannot achieve full rotation or multiple full rotations. Its practicality is not strong and it cannot achieve a relative rotational haptic experience for the user. (4) The safety and protection of the existing equipment are relatively simple.

[0004] To address this, a multi-degree-of-freedom drive device for VR motion experiences is proposed. Summary of the Invention

[0005] In view of this, the present invention aims to provide a multi-degree-of-freedom driving device for VR motion experience, so as to solve or alleviate the technical problems existing in the prior art, and at least provide a beneficial option;

[0006] The technical solution of this invention is implemented as follows: a multi-degree-of-freedom driving device for VR motion experience includes a base and a top base. The base and the top base are driven by a degree-of-freedom component. A rotation mechanism is also provided between the base and the top base. The degree-of-freedom component is a linear output component.

[0007] The rotary mechanism is connected to the top seat, and the rotary mechanism is responsible for rotating and driving the top seat to adjust the angle.

[0008] The top of the base is equipped with at least two sets of linear output components in a circular array; each linear output component outputs a linear degree of freedom, which is connected to the bottom of the rotary mechanism. Multiple sets of linear output components constitute a multi-degree-of-freedom drive mode.

[0009] As a further preferred embodiment of this technical solution: the base, the top seat, the rotary mechanism, and the linear output component together constitute an N-UPS-PU type parallel degree-of-freedom drive, wherein the value of N is 2 to 10.

[0010] As a further preferred embodiment of this technical solution: the rotary mechanism includes a first frame and a rotating assembly driven by a first power component;

[0011] The rotating assembly contains a gear pair for rotating and driving the top seat to adjust its angle.

[0012] As a further preferred embodiment of this technical solution: the rotating assembly consists of an internal gear ring and a gear that mesh with each other, the first power component drives the gear to rotate, and the top of the internal gear ring is fixedly connected to the bottom of the top seat.

[0013] As a further preferred embodiment of this technical solution: the linear output component includes a second frame, a second power component and a crank-rocker assembly driven by the second power component, and a first coupling assembly;

[0014] The second power component is mounted on the top of the base via the second frame, and the crank rocker assembly is connected to the bottom of the rotary mechanism via the first coupling assembly.

[0015] As a further preferred embodiment of this technical solution: the crank-rocker assembly has Y2 ≥ 90°, Y = 180° - Y2, and Ymin = 40°.

[0016] As a further preferred embodiment of this technical solution: the value of N is 3; a support component is installed on the top of the base, the support component is used to connect and support at the center of the bottom of the rotary mechanism and cooperate with the rotary mechanism to adjust the angle;

[0017] An anti-sway component is installed on the top of the base. The anti-sway component is used to connect a support at the bottom of the rotary mechanism and cooperate with the rotary mechanism to adjust the angle.

[0018] As a further preferred embodiment of this technical solution: the support assembly includes a third frame and a second coupling assembly mounted on the upper part of the third frame;

[0019] The bottom of the third frame is fixedly connected to the top of the base, and the second coupling assembly is connected to the bottom of the rotary mechanism.

[0020] As a further preferred embodiment of this technical solution: the anti-sway assembly includes a fourth frame and a fifth frame;

[0021] The base is fixedly connected to the fourth frame, the fourth frame and the fifth frame are hinged together, and the fifth frame and the bottom of the rotating mechanism are fixedly connected.

[0022] Compared with the prior art, the beneficial effects of the present invention are:

[0023] I. This invention abandons the traditional single-linear-axis multi-segment coordination mode. It uses specially designed linear output components for mechanical linkage and mutual coordination, generating a quick-return characteristic based on mechanical principles. This mechanical coordination allows for more rapid and instantaneous adjustments to the user during VR simulation entertainment. It better matches the simulation needs of VR environments, especially those with a fast pace and high excitement, achieving more realistic human-computer interaction through simulated dynamics. In actual use, it provides a more comprehensive and realistic haptic simulation, effectively meeting practical and usability requirements. Simultaneously, the crank-rocker drive trajectory is a smooth sine curve, possessing natural smoothness that effectively matches the actual VR haptic needs.

[0024] Second, this invention utilizes a specially designed rotary mechanism for mechanical linkage and mutual cooperation. In actual use, it not only fulfills the special tactile requirements of full-circle rotation or multi-angle rotation, but also significantly increases the transmission ratio and transmission accuracy through gear pair cooperation. In actual VR simulation, it can better match the actual tactile requirements for corresponding transmission output. Furthermore, the rotary mechanism of this invention abandons the traditional cooperation mode of cooperation and drive at the initial end of the linear shaft. The rotary structure of this invention directly cooperates with the output end of the linear degree of freedom, and adds at least two virtual constraints centered on the rotary pair, realizing relative angle adjustment for the user. This achieves human-computer interaction with a more realistic and comprehensive tactile output, effectively meeting the actual use requirements and practical needs.

[0025] Third, the present invention, through the relative cooperation of the support component and the anti-sway component, can play an auxiliary protective role in relative movement and cooperative support during the angle adjustment and driving process of the overall equipment, and can better meet the safety requirements in actual use.

[0026] Fourth, the invention adopts a modular design, which can quickly form a production scale in practical applications. Moreover, the maintenance, replacement and upgrading of the device are relatively simple, making it suitable for large-scale application in the market. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0029] Figure 2 This is a three-dimensional structural diagram of the concealed top seat of the present invention;

[0030] Figure 3 This is a three-dimensional structural diagram of the rotary mechanism of the present invention;

[0031] Figure 4 This is a three-dimensional structural diagram of the rotary mechanism of the present invention viewed from below;

[0032] Figure 5 This is a three-dimensional structural diagram of the linear output component of the present invention;

[0033] Figure 6 This is a three-dimensional structural diagram of the support component of the present invention;

[0034] Figure 7 This is a three-dimensional structural diagram of the anti-sway component of the present invention.

[0035] Reference numerals: 1. Base; 2. Top seat; 3. Rotation mechanism; 301. First frame; 302. Rotating component; 303. First power component; 4. Linear output component; 401. Second frame; 402. Second power component; 403. Crank-rocker assembly; 404. First coupling assembly; 5. Support assembly; 501. Third frame; 502. Second coupling assembly; 6. Anti-sway component; 601. Fourth frame; 602. Fifth frame. Detailed Implementation

[0036] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of the invention. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0037] It is important to note that terms such as "first," "second," "symmetric," and "array" are used only to distinguish between descriptive and positional descriptions and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, features specified with terms such as "first" or "symmetric" may explicitly or implicitly include one or more of that feature; similarly, when the quantity of certain features is not limited by words such as "two" or "three," it should be noted that such features also explicitly or implicitly include one or more features.

[0038] In this invention, unless otherwise explicitly specified and limited, terms such as "installation," "connection," and "fixation" should be interpreted broadly; for example, they can refer to a fixed connection, a detachable connection, or an integral molding; they can refer to a mechanical connection, a direct connection, a welding connection, or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the accompanying drawings and specific circumstances.

[0039] Example 1

[0040] Please see Figure 1-7 The present invention provides a technical solution: a multi-degree-of-freedom driving device for VR motion experience, including a base 1 and a top seat 2, wherein the base 1 and the top seat 2 are driven by a degree-of-freedom component, wherein the base 1 is installed on the ground, and the top seat 2 is equipped with VR equipment, such as a VR seat; and other dynamic auxiliary somatosensory devices, such as air pumps, can also be installed to spray air to simulate somatosensory transmission in VR scenes. The above components can be operated by means of battery power.

[0041] The entire device is automatically controlled by a controller and operates in conjunction with VR equipment;

[0042] The specific components of this device are as follows, please refer to [link / reference]. Figure 1 and 2 A rotary mechanism 3 is also provided between the base 1 and the top seat 2. The rotary mechanism 3 is directly connected to the top seat 2 and is responsible for rotating and driving the top seat 2 to adjust the angle.

[0043] Please see Figure 1 , 2 And 5: The degree-of-freedom component is the linear output component 4;

[0044] Two sets of linear output components 4 are mounted in a ring array on the top of the base 1; the linear output component 4 outputs a linear degree of freedom, which is connected to the bottom of the rotary mechanism 3. The two sets of linear output components 4 constitute a multi-degree-of-freedom drive mode.

[0045] In the overall device, the base 1, the top seat 2, the rotary mechanism 3 and the three linear output components 4 together form a 2-UPS-1-PU type parallel degree of freedom drive; that is, it is driven as a spherical coordinate type multi-degree of freedom parallel drive, where the center point of the spherical coordinate is the center point of the rotary mechanism 3.

[0046] Please see Figure 3 and 4 The rotary mechanism 3 includes a first frame 301 and a rotating assembly 302 driven by a first power component 303;

[0047] The rotating assembly 302 contains a gear pair for rotating the top seat 2 to adjust its angle.

[0048] The gear pair of the rotating assembly 302 is selected as an internal gear ring and a gear that mesh with each other. The first power component 303 drives the gear to rotate. The top of the internal gear ring is fixedly connected to the bottom of the top seat 2.

[0049] When the first power component 303 drives the gear to rotate, the gear meshes and drives the internal gear ring to rotate. The rotation of the internal gear ring drives the rotation of the top seat 2, which in turn drives the VR device that is mated with the top seat 2 to perform corresponding driving.

[0050] Among them, the first power component 303 is a speed reducer.

[0051] Please see Figure 2 and Figure 5 The linear output assembly 4 includes a second frame 401, a second power member 402 and a crank-rocker assembly 403 driven by the second power member 402, and a first coupling assembly 404.

[0052] The second power component 402 is mounted on the top of the base 1 via the second frame 401, and the crank rocker assembly 403 is connected to the bottom of the rotary mechanism 3 via the first coupling assembly 404.

[0053] For crank-rocker assembly 403, Y2 ≥ 90°, Y = 180° - Y2, and Ymin = 40°;

[0054] The second power component 402 drives the crank in the crank-rocker assembly 403 as the active component to perform external work. The rocker converts the torque into linear transmission to the first coupling assembly 404, which in turn transmits the linear output to the top seat 2 for adjustment. Multiple sets of linear output assemblies 4 can be dynamically driven synchronously and asynchronously, thereby enabling the top seat 2 to perform functions such as horizontal angle adjustment, rotation, and tilting. This can be combined with the upper VR device for motion sensing transmission to achieve human-computer interaction.

[0055] The crank-rocker assembly 403 relies on the transmission angle (Υ), minimum transmission angle (Υmin), and its diagonal Υ2, as shown in the formula above. According to mechanical principles, the transmission angle in the crank-rocker assembly 403 is an instantaneous value, exhibiting a quick-return characteristic, as detailed in the following formula:

[0056] K = 180° + θ / 180° - θ

[0057] θ = 180°·K⁻¹ / K⁺¹

[0058] K: Coefficient of variation of stroke speed

[0059] θ: Extreme position angle

[0060] In actual use, because the crank makes a uniform full revolution and the rocker arm makes a reciprocating output, the return and forward speeds are not equal, achieving the characteristic of a slow working stroke and a fast return stroke. In the actual simulation of VR haptic experience, especially in VR simulation scenarios with a fast rhythm, tense scenes, or instantaneous haptic output, the controller can control the extreme position angle value of the crank-rocker arm assembly 403 to match the rhythm, achieving instantaneous haptic interaction output. It achieves perfect human-computer interaction with the user in a more realistic and exciting output mode. Moreover, its entire output is mechanical, which has strong compatibility with the redundancy value of the program calculation. Its structural lifespan is greatly improved compared with the traditional servo electric cylinder output mode.

[0061] The crank-rocker assembly 403 has a smooth sine curve S=R*SINФ, which has natural smoothness, large range of motion and fast speed, perfectly meeting the actual needs of VR dynamic experience; at the same time, there is no rigid impact or sliding friction during operation, strong overload capacity, safety factor of more than 10 times, and the probability of breakage is close to zero.

[0062] Meanwhile, the first coupling assembly 404 consists of two interconnected universal joint couplings. The upper and lower sets of universal joint couplings are respectively hinged to the bottom of the rotary mechanism 3 and the top of the rocker arm. Three virtual constraints centered on the rotary joint are added to enable relative angle adjustment for the user, so as to realize human-computer interaction with a more realistic and comprehensive tactile output, effectively meeting the actual use needs and practicality requirements.

[0063] Please see Figure 1 and Figure 2 A support component 5 is installed on the top of the base 1. The support component 5 is used to connect to the support at the center of the bottom of the rotary mechanism 3 and to cooperate with the rotary mechanism 3 for angle adjustment. An anti-sway component 6 is installed on the top of the base 1. The anti-sway component 6 is used to connect to the support at the bottom of the rotary mechanism 3 and to cooperate with the rotary mechanism 3 for angle adjustment.

[0064] Please see Figure 6 The support assembly 5 includes a third frame 501 and a second coupling assembly 502 mounted on the upper part of the third frame 501. The second coupling assembly 502 consists of two universal joint couplings connected to each other.

[0065] The bottom of the third frame 501 is fixedly connected to the top of the base 1, and the second coupling assembly 502 is connected to the bottom of the rotary mechanism 3. The third frame 501, in conjunction with the second coupling assembly 502, realizes the mutual connection between the base 1 and the rotary mechanism 3. While the rotary mechanism 3 is driven by the linear output assembly 4 to realize functions such as horizontal angle adjustment, rotation, and tilting, it also provides auxiliary support, effectively improving the safety of the equipment. At the same time, the two sets of universal joint couplings of the second coupling assembly 502 are hinged at the bottom of the rotary mechanism 3 and the top of the third frame 501, respectively, to add three virtual constraints centered on the rotary joint. This allows for relative angle adjustment for the user, enabling human-computer interaction with a more realistic and comprehensive tactile output, effectively meeting the actual use needs and practical requirements.

[0066] Please see Figure 7 Anti-sway assembly 6 includes a fourth frame 601 and a fifth frame 602;

[0067] The base 1 is fixedly connected to the fourth frame 601, the fourth frame 601 and the fifth frame 602 are hinged together, and the fifth frame 602 and the bottom of the rotary mechanism 3 are fixedly connected.

[0068] The anti-sway component 6 provides auxiliary support while the rotary mechanism 3 is driven by the linear output component 4 to achieve functions such as horizontal angle adjustment, rotation, and tilting. It assists in counteracting the inertial force during the mechanical drive of the rotary mechanism 3 and the top seat 2 in the form of edge cooperation, so as to enable the rotary mechanism 3 to operate safely in the form of point-to-point and line-to-line drive.

[0069] In this embodiment, specifically: the entire device is powered by mains electricity.

[0070] Example 2

[0071] Please see Figure 1-7 The present invention provides a technical solution: a multi-degree-of-freedom driving device for VR motion experience, including a base 1 and a top seat 2, wherein the base 1 and the top seat 2 are driven by a degree-of-freedom component, wherein the base 1 is installed on the ground, and the top seat 2 is equipped with VR equipment, such as a VR seat; and other dynamic auxiliary somatosensory devices, such as air pumps, can also be installed to spray air to simulate somatosensory transmission in VR scenes. The above components can be operated by means of battery power.

[0072] The entire device is automatically controlled by a controller and operates in conjunction with VR equipment;

[0073] The specific components of this device are as follows, please refer to [link / reference]. Figure 1 and 2 A rotary mechanism 3 is also provided between the base 1 and the top seat 2. The rotary mechanism 3 is directly connected to the top seat 2 and is responsible for rotating and driving the top seat 2 to adjust the angle.

[0074] Please see Figure 1 , 2 And 5: The degree-of-freedom component is the linear output component 4;

[0075] Ten linear output components 4 are mounted in a circular array on the top of the base 1; each linear output component 4 outputs a linear degree of freedom, which is connected to the bottom of the rotary mechanism 3. The ten linear output components 4 constitute a ten-degree-of-freedom drive mode.

[0076] In the overall device, the base 1, the top seat 2, the rotary mechanism 3 and the ten linear output components 4 together form a 10-UPS parallel degree of freedom drive; that is, it is driven as a spherical coordinate 10-degree of freedom parallel drive, where the center point of the spherical coordinate is the center point of the rotary mechanism 3.

[0077] Please see Figure 3 and 4 The rotary mechanism 3 includes a first frame 301 and a rotating assembly 302 driven by a first power component 303;

[0078] The rotating assembly 302 contains a gear pair for rotating the top seat 2 to adjust its angle.

[0079] The gear pair of the rotating assembly 302 is selected as an internal gear ring and a gear that mesh with each other. The first power component 303 drives the gear to rotate. The top of the internal gear ring is fixedly connected to the bottom of the top seat 2.

[0080] When the first power component 303 drives the gear to rotate, the gear meshes and drives the internal gear ring to rotate. The rotation of the internal gear ring drives the rotation of the top seat 2, which in turn drives the VR device that is mated with the top seat 2 to perform corresponding driving.

[0081] Among them, the first power component 303 is a speed reducer.

[0082] Please see Figure 2 and Figure 5 The linear output assembly 4 includes a second frame 401, a second power member 402 and a crank-rocker assembly 403 driven by the second power member 402, and a first coupling assembly 404.

[0083] The second power component 402 is mounted on the top of the base 1 via the second frame 401, and the crank rocker assembly 403 is connected to the bottom of the rotary mechanism 3 via the first coupling assembly 404.

[0084] For crank-rocker assembly 403, Y2 ≥ 90°, Y = 180° - Y2, and Ymin = 40°;

[0085] The second power component 402 drives the crank in the crank-rocker assembly 403 as the active component to perform external work. The rocker converts the torque into linear transmission to the first coupling assembly 404, which in turn transmits the linear output to the top seat 2 for adjustment. Multiple sets of linear output assemblies 4 can be dynamically driven synchronously and asynchronously, thereby enabling the top seat 2 to perform functions such as horizontal angle adjustment, rotation, and tilting. This can be combined with the upper VR device for motion sensing transmission to achieve human-computer interaction.

[0086] The crank-rocker assembly 403 relies on the transmission angle (Υ), minimum transmission angle (Υmin), and its diagonal Υ2, as shown in the formula above. According to mechanical principles, the transmission angle in the crank-rocker assembly 403 is an instantaneous value, exhibiting a quick-return characteristic, as detailed in the following formula:

[0087] K = 180° + θ / 180° - θ

[0088] θ = 180°·K⁻¹ / K⁺¹

[0089] K: Coefficient of variation of stroke speed

[0090] θ: Extreme position angle

[0091] In actual use, because the crank makes a uniform full revolution and the rocker arm makes a reciprocating output, the return and forward speeds are not equal, achieving the characteristic of a slow working stroke and a fast return stroke. In the actual simulation of VR haptic experience, especially in VR simulation scenarios with a fast rhythm, tense scenes, or instantaneous haptic output, the controller can control the extreme position angle value of the crank-rocker arm assembly 403 to match the rhythm, achieving instantaneous haptic interaction output. It achieves perfect human-computer interaction with the user in a more realistic and exciting output mode. Moreover, its entire output is mechanical, which has strong compatibility with the redundancy value of the program calculation. Its structural lifespan is greatly improved compared with the traditional servo electric cylinder output mode.

[0092] The crank-rocker assembly 403 has a smooth sine curve S=R*SINФ, which has natural smoothness, large range of motion and fast speed, perfectly meeting the actual needs of VR dynamic experience; at the same time, there is no rigid impact or sliding friction during operation, strong overload capacity, safety factor of more than 10 times, and the probability of breakage is close to zero.

[0093] Meanwhile, the first coupling assembly 404 consists of two interconnected universal joint couplings. The upper and lower sets of universal joint couplings are respectively hinged to the bottom of the rotary mechanism 3 and the top of the rocker arm. Three virtual constraints centered on the rotary joint are added to enable relative angle adjustment for the user, so as to realize human-computer interaction with a more realistic and comprehensive tactile output, effectively meeting the actual use needs and practicality requirements.

[0094] In this embodiment, specifically, unlike embodiment one, ten sets of linear output components 4 are selected for driving; when the number of linear output components 4 used in this device is greater than or equal to 3, the support component 5 and the anti-sway component 6 can be installed in a selective manner according to the actual situation.

[0095] In this embodiment, specifically: the entire device is powered by mains electricity.

[0096] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope disclosed in the present invention, and these should all be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A multi-degree-of-freedom driving device for VR motion experience, comprising a base (1) and a top mount (2), wherein the base (1) and the top mount (2) are driven by a degree-of-freedom component, characterized in that: A rotary mechanism (3) is also provided between the base (1) and the top seat (2), and the degree-of-freedom component is a linear output component (4); The rotary mechanism (3) is connected to the top seat (2), and the rotary mechanism (3) is responsible for rotating and driving the top seat (2) to adjust the angle. The top of the base (1) is equipped with at least two sets of linear output components (4) in a ring array; each linear output component (4) outputs a linear degree of freedom, which is connected to the bottom of the rotary mechanism (3), and multiple sets of linear output components (4) constitute a multi-degree-of-freedom drive mode. The linear output assembly (4) includes a second frame (401), a second power component (402), a crank-rocker assembly (403) driven by the second power component (402), and a first coupling assembly (404); the second power component (402) is mounted on the top of the base (1) through the second frame (401), and the crank-rocker assembly (403) is connected to the bottom of the rotary mechanism (3) through the first coupling assembly (404); the first coupling assembly (404) has at least two virtual constraints formed by revolute joints; the first coupling assembly (404) consists of two interconnected universal joint couplings, with the upper and lower sets of universal joint couplings respectively hinged to the bottom of the rotary mechanism (3) and the top of the rocker. A support assembly (5) is installed on the top of the base (1). The support assembly (5) is used to connect and support the rotary mechanism (3) at the bottom center and cooperate with the rotary mechanism (3) to adjust the angle. An anti-sway component (6) is installed on the top of the base (1). The anti-sway component (6) is used to connect and support the bottom of the rotary mechanism (3) and cooperate with the rotary mechanism (3) to adjust the angle.

2. The multi-degree-of-freedom drive device for VR motion experience according to claim 1, characterized in that: The base (1), the top seat (2), the rotary mechanism (3), and the linear output component (4) together form an N-UPS-1-PU type parallel degree-of-freedom drive, where the value of N is 2 to 10.

3. The multi-degree-of-freedom drive device for VR motion experience according to claim 2, characterized in that: The rotary mechanism (3) includes a first frame (301) and a rotary assembly (302) driven by a first power component (303); The rotating assembly (302) contains a gear pair for rotating and driving the top seat (2) to adjust its angle.

4. The multi-degree-of-freedom drive device for VR motion experience according to claim 3, characterized in that: The rotating assembly (302) consists of an internal gear ring and a gear that mesh with each other. The first power component (303) drives the gear to rotate. The top of the internal gear ring is fixedly connected to the bottom of the top seat (2).

5. The multi-degree-of-freedom drive device for VR motion experience according to claim 1, characterized in that: The crank rocker assembly (403) has Y2 ≥ 90°, Y = 180° - Y2, and Ymin = 40°.

6. The multi-degree-of-freedom drive device for VR motion experience according to claim 1, characterized in that: The value of N is 3. The base (1), the top seat (2), the rotary mechanism (3) and the linear output component (4) together form a 3-UPS parallel degree of freedom drive. The support assembly (5) includes a third frame (501) and a second coupling assembly (502) mounted on the upper part of the third frame (501); The bottom of the third frame (501) is fixedly connected to the top of the base (1), and the second coupling assembly (502) is connected to the bottom of the rotary mechanism (3); The second coupling assembly (502) has at least two virtual constraints consisting of rotary joints.

7. The multi-degree-of-freedom drive device for VR motion experience according to claim 6, characterized in that: The anti-sway assembly (6) includes a fourth frame (601) and a fifth frame (602); The base (1) is fixedly connected to the fourth frame (601), the fourth frame (601) and the fifth frame (602) are hinged together, and the fifth frame (602) and the bottom of the rotating mechanism (3) are fixedly connected.

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