Motion platform apparatus and method of displacing a payload platform

Abstract

A motion platform apparatus (100) for vehicle simulation includes a payload platform (134) having peripheral elevated locations (136, 138, 140). The apparatus (100) also includes a base (102) having peripheral anchor locations, and linkage mechanisms (110, 112, 114) configured to couple the peripheral anchor locations to the peripheral elevated locations (136, 138, 140), respectively, the linkage mechanisms (110, 112, 114) including a first linkage mechanism (110). The first linkage mechanism (110) includes a first arm (116) having a first end operably coupled to a first end of a second arm (122) by a spherical joint (128). A second end of the first arm (116) is operably coupled to one of the peripheral anchor locations by a first rotary joint (132). A second end of the second arm (122) is operably coupled to one of the peripheral elevated locations (136, 138, 140) (136) by a second rotary joint (146).

Description

Technical Field

[0001] This invention relates to a motion platform device, for example, capable of movement in three degrees of freedom. The invention also relates to a method for displacing a payload platform, for example, a method capable of moving the payload platform in three degrees of freedom. Background Technology

[0002] In the field of motion platforms and other fields, degrees of freedom are commonly referred to as surge, roll, sway, pitch, heave, and yaw. Sway is translation along a front-to-back aligned axis, roll is rotation about the sway axis, sway is translation along a left-to-right aligned axis, pitch is rotation about the sway axis, heave is translation along a vertically aligned axis, and yaw is rotation about the heave axis.

[0003] Various building structures are known to provide three degrees of freedom of motion, typically the aforementioned vertical translation, pitch, and roll. It is known to elevate the outer perimeter of a payload platform above a base using multiple linkage mechanisms. Each linkage employs a pair of crank components or a single crank component, the first end of which is coupled to the base via an anchored drive motor, and the second end of which is coupled to the tip of a wedge component via a rotary joint. The neck end of the wedge component is coupled to one of the outer perimeter elevation components. An example of such a motion platform device is available from Motion Systems in Poland. Stanek acquired the PS-3TM-1000 motion platform.

[0004] However, this device is ineffective in terms of stiffness per unit mass when subjected to yaw torque, as the crank and wishbone components are subjected to torsion that tends to twist the crank. In this respect, stiffness is needed to reduce the undesirable torsion of this linkage mechanism, which reduces the positional accuracy of the payload platform. Furthermore, at certain resonant frequencies, the motion of the crank relative to the wishbone components is out of phase due to the lack of stiffness, further reducing the positional accuracy of the payload platform. Therefore, yaw stiffness is required to alleviate the above problems. When the motion platform and the yaw table on which the motion platform is mounted are further mounted on lateral and longitudinal translation tables, the stiffness requirement increases due to the tendency of lateral and longitudinal accelerations to introduce additional yaw torque on the motion platform.

[0005] To counteract the effects of torsion on linkages, a known approach is to increase the size of existing components in the motion platform arrangement. However, this increases mass, thereby increasing cost and reducing dynamic performance. Another known approach is to add additional mechanism components to the motion platform arrangement. However, such measures are supplementary, thus increasing the mass of the motion platform arrangement, motion complexity, inventory, and therefore cost. Summary of the Invention

[0006] According to a first aspect of the present invention, a motion platform device for vehicle simulation is provided, the device comprising: a payload platform having a peripheral raised portion; a base having a peripheral anchored portion; and a linkage mechanism configured to connect the peripheral anchored portion to the peripheral raised portion, the linkage mechanism including a first linkage mechanism; wherein: the first linkage mechanism includes a first arm, a first end of the first arm being operably connected to a first end of a second arm via a ball joint; a second end of the first arm being operably connected to one of the anchored portions via a first rotary joint; and a second end of the second arm being operably connected to one of the raised portions via a second rotary joint.

[0007] The first arm can be the first fork. A ball joint can be a ball joint. The second arm can be the second fork.

[0008] The neck of the first fork is operatively coupled to the neck of the second fork.

[0009] The first fork can be the first fork bone, and the second fork can be the second fork bone.

[0010] The first linkage can be configured to selectively raise the raised portion.

[0011] The device also includes an actuator configured to move the first linkage within its extension range. The actuator is operably coupled to the tip of the first fork.

[0012] The actuator may be an electric motor. The device also includes a gearbox; the actuator is operatively coupled to the first linkage mechanism via the gearbox.

[0013] The linkage mechanism may further include: a second linkage mechanism including a third arm, a first end of the third arm being operably coupled to a first end of a fourth arm, a second end of the third arm being operably coupled to another anchoring portion in the peripheral anchoring portion; and a second end of the fourth arm being operably coupled to another raising portion in the peripheral raising portion.

[0014] The linkage mechanism further includes: a third linkage mechanism, including a fifth arm, the first end of which is operably coupled to the first end of a sixth arm, the second end of which is operably coupled to another anchoring part in the peripheral anchoring part; and the second end of the sixth arm is operably coupled to another raising part in the peripheral raising part.

[0015] The first, second, and third linkages can be controlled independently. The first, second, and third linkages can be configured to control the roll, pitch, and / or vertical displacement of a payload applicable when located on a payload platform.

[0016] The device also includes a turntable, which includes a base.

[0017] The device also includes: a translation stage capable of linear translation in two substantially perpendicular directions; and a motion platform device operatively coupled to the translation stage.

[0018] According to a second aspect of the present invention, a vehicle simulator system is provided, the system comprising: the motion platform device described above in relation to the first aspect of the present invention.

[0019] The system may also include payloads arranged on a payload platform, such as a vehicle cockpit.

[0020] The system also includes: a display arranged in the field of view; and processing resources operatively integrated with the display and the motion platform device; wherein the processing resources can control the operation of the motion platform device, thereby simulating aspects of vehicle performance.

[0021] According to a third aspect of the present invention, a method for shifting a payload platform for a vehicle simulator is provided, the method comprising: attaching a first end of a first arm to a first end of a second arm via a ball joint; attaching a second end of the first arm to a peripheral anchoring portion of a base via a first rotary joint; attaching a second end of the second arm to a peripheral raising portion of the payload platform via a second rotary joint; and selectively actuating the attached first and second arms to raise the peripheral anchoring portions.

[0022] According to a fourth aspect of the present invention, a control arm drive device is provided, comprising: an electric motor including an output shaft; a gearbox assembly including a first gearbox spaced apart from a second gearbox; wherein the first gearbox includes a first torque input and a first outward torque output arranged opposite to the first torque input; the second gearbox includes a second torque input and a second outward torque output arranged opposite to the second torque input; the first and second torque inputs are coaxial and coupled together via a drive shaft; and the output shaft of the electric motor is operatively coupled to the drive shaft.

[0023] An electric motor can be configured to rotate a drive shaft during use.

[0024] The first longitudinal axis of the motor's output shaft can be arranged parallel to the second longitudinal axis of the drive shaft; the output shaft can be arranged opposite the drive shaft in an overlapping relationship.

[0025] The drive shaft can be operably coupled to the output shaft via a drive belt.

[0026] The output shaft can carry the first pulley, and the drive shaft can carry the second pulley; the drive belt can be configured to engage the first pulley and the second pulley.

[0027] The electric motor can be offset relative to the drive shaft.

[0028] According to a fifth aspect of the invention, a yaw table device for a motion platform is provided, the device comprising: a non-rotatable stage; a base arranged opposite to the non-rotatable stage, the base being rotatable relative to the non-rotatable stage; and a drive device having a housing and an output surface; wherein the base includes a central hole, and the drive device extends through the central hole of the base; the output surface of the drive device is fixed to the non-rotatable stage; and the housing of the drive stage is fixed to the base.

[0029] The base can maintain a spaced relationship with the non-rotatable stage by means of the outer sidewalls extending from the non-rotatable stage to the base.

[0030] The device may also include a complementary peripheral bearing assembly comprising a first portion supported by a base, which is opposite to the second portion supported by the non-rotatable stage.

[0031] The second part of the complementary peripheral bearing assembly can be supported by the peripheral sidewall.

[0032] The drive unit may include an electric motor operatively coupled to a gearbox; the gearbox may include an output surface.

[0033] The gearbox may include a housing; the housing of the gearbox may be fixed to the base.

[0034] The non-rotatable stage can be placed below the base.

[0035] The base can have a rotation axis; the center of the non-rotatable stage can be coaxial with the rotation axis of the base.

[0036] Complementary peripheral bearing assemblies can be approximately circular.

[0037] The housing of the drive unit can be configured to rotate in response to an input control signal during use, while the output surface and the non-rotatable stage remain essentially stationary.

[0038] According to a sixth aspect of the invention, a yaw table device for a motion platform is provided, the device comprising: a non-rotatable stage; a base arranged opposite to the non-rotatable stage, the base being rotatable relative to the non-rotatable stage; and a drive device having a housing; wherein the drive device is configured such that, in use, rotational movement of the housing causes the base to rotate.

[0039] According to a seventh aspect of the present invention, a motion platform device is provided, comprising: a yaw table device as described above in relation to the first or second aspect of the present invention; wherein a base is configured to carry a payload platform having a peripheral raised portion, the base being operably coupled to the payload platform via an actuable peripheral linkage mechanism extending between a lower peripheral anchor portion of the base and a peripheral raised portion of the payload platform.

[0040] Therefore, an apparatus and method can be provided that, when the apparatus undergoes high-torque yaw motion, eliminates or at least mitigates torsional effects, such as stresses in the linkage mechanism, between the base plane and the payload platform. The apparatus and method also provide improved positioning accuracy and improved high-frequency motion control, particularly, but not limited to, under yaw conditions that cause deflection or resonance in the linkage mechanism. The apparatus and method eliminate the need for additional measures to reduce the effects of torsion, thereby reducing the bill of materials and overall mass of the apparatus, as well as the assembly time and complexity. Attached Figure Description

[0041] At least one embodiment of the invention will now be described by way of example only, with reference to the accompanying drawings, in which:

[0042] Figure 1 This is a first perspective view of the motion and gearbox layout of a motion platform device constituting an embodiment of the present invention;

[0043] Figure 2 It includes the payload platform. Figure 1 The second perspective view of the motion platform device;

[0044] Figure 3 yes Figure 2 A side view of the motion platform device viewed from direction A;

[0045] Figure 4 yes Figures 1 to 3 A schematic diagram of the control system of the device shown;

[0046] Figure 5 This is a flowchart of a method for shifting a payload platform that constitutes another embodiment of the present invention;

[0047] Figure 6 yes Figure 5 A more detailed flowchart of a portion of the flowchart;

[0048] Figure 7 This is a flowchart of a first method for supporting a payload platform, which constitutes another embodiment of the present invention;

[0049] Figure 8 This is a flowchart of a second method for supporting a payload platform, which constitutes yet another embodiment of the present invention;

[0050] Figure 9 yes Figure 1 , 2 A schematic diagram of the alternative drive system to drive system 3; and

[0051] Figure 10 This is a schematic diagram of the yaw stage drive system. Detailed Implementation

[0052] In the overall description below, the same reference numerals will be used to identify similar parts.

[0053] refer to Figure 1 The motion platform device 100 includes a base 102, which supports a first drive system 104, a second drive system 106, and a third drive system 108 radially arranged on and fixedly attached to the base 102. The motion platform device 100 also includes a first linkage mechanism 110, a second linkage mechanism 112, and a third linkage mechanism 114. The first linkage mechanism 110 includes a first arm 116 having a first end 118 and a second end 120. The first linkage mechanism 110 also includes a second arm 122 having a first end 124 and a second end 126. The first end 118 of the first arm 116 is operably coupled to the first end 124 of the second arm 122 via a first ball joint 128. The first gearbox 130 of the first drive system 104 is arranged on and fixed to the base 102. The second end 120 of the first arm 116 is operably connected to the first gearbox 130 via a first rotary joint 132, which is formed by the first output shaft 133 of the first gearbox 130. The first gearbox 130 has a first anchoring portion on the base 102.

[0054] refer to Figure 2 and Figure 3The motion platform device 100 also includes a payload platform 134 having a first peripheral raised portion 136, a second peripheral raised portion 138, and a third peripheral raised portion 140. In this embodiment, the payload platform 134 has a hexagonal periphery and is planar. In this embodiment, the payload platform 134 is formed by interconnected peripheral tubular members 142 and Y-shaped transverse members 144 for support. Of course, those skilled in the art will understand that the payload platform 134 can be constructed in a variety of different ways, and can employ alternatives such as peripheral tubular members 142 and / or Y-shaped transverse members 144 (e.g., plates). The second end 126 of the second arm 122 is operably coupled to the first peripheral raised portion 136 of the payload platform 134 via a second rotary joint 146.

[0055] Continue to refer to Figure 1 The second linkage mechanism 112 includes a first arm 148 having a first end and a second end, and a second arm 150 having a first end and a second end. The first end of the first arm 148 is operably coupled to the first end of the second arm 150 via a second ball joint 152. A second gearbox 154 of the second drive system 106 is arranged and fixed to the base 102. The second end of the first arm 148 is operably coupled to the second gearbox 154 via a third rotary joint 156, which is formed by the second output shaft 153 of the second gearbox 154. The second gearbox 154 has a second anchoring portion on the base 102. (Reference) Figure 2 The second end of the second arm 150 is operably coupled to the second peripheral raised portion 138 of the payload platform 134 via the fourth rotary joint 158.

[0056] Continue to refer to Figure 1 The third linkage 114 includes a first arm 160 having a first end and a second end, and a second arm 162 having a first end and a second end. The first end of the first arm 160 is operably coupled to the first end of the second arm 162 via a third ball joint 164. A third gearbox 166 of the third drive system 106 is arranged and fixed to the base 102. The second end of the first arm 160 is operably coupled to the third gearbox 166 via a fifth rotary joint 168, which is formed by a third output shaft 167 of the third gearbox 166. The third gearbox 166 provides a third anchoring position for the base 102. (Reference) Figure 2 and Figure 3 The second end of the second arm 162 is operably coupled to the third peripheral raised portion 140 of the payload platform 134 via the sixth rotary joint 170.

[0057] In this embodiment, the first arms 116, 148, and 160 are the first furcula, and the second arms 122, 150, and 162 are the second furcula. The first and second furcula constitute the first and second forks, respectively. Each first fork has a tip 120 and a neck 118. Similarly, each second fork also has a tip 126 and a neck 124. In this embodiment, the necks 118 and 124 of the first and second forks are joined together. The tip 120 of the first fork is joined to the first, second, and third peripheral anchoring portions, respectively, and the tip 126 of the second fork is joined to the first, second, and third peripheral raised portions 136, 138, and 140, respectively.

[0058] As those skilled in the art will understand, various designs of ball joints exist. In this embodiment, the first ball joint 128, the second ball joint 152, and the third ball joint 164 are respectively the first ball joint, the second ball joint, and the third ball joint. However, other designs of ball joints may be considered.

[0059] Turn Figure 1 The first drive system 104 includes a first motor (e.g., a first electric motor) 172 operably coupled to a first gearbox 130. The second drive system 106 includes a second motor (e.g., a second electric motor) 174 operably coupled to a second gearbox 154. The third drive system 108 includes a third motor (e.g., a third electric motor) 176 operably coupled to a third gearbox 166. The first motor 172, the second motor 174, and the third motor 176 constitute a first actuator, a second actuator, and a third actuator, respectively.

[0060] In another embodiment ( Figure 9 Alternative drive system configurations can be adopted to the configurations of the first, second, and third drive systems 104, 106, and 108 described above. For simplicity and brevity, only one of the alternative drive system configurations will be described. However, those skilled in the art will understand that in this embodiment, the same drive configuration is used for the second and third drive systems 106 and 108. In this embodiment, an alternative configuration for the first drive system 104 will be described.

[0061] Similar to the foregoing embodiments, an alternative drive system 800, constituting an alternative to the first drive system 104, is radially arranged on the base 102 and fixedly attached to the base 102 in a manner described later herein. The first alternative drive system 800 includes an offset motor 802 operatively coupled to a pair of gearbox assemblies 804. The offset motor 802 includes a motor output shaft 806 carrying a first pulley 808. The pair of gearbox assemblies 804 are arranged between the tips 120 of the first lower control arm 116. The tips 120 include a first side end 810 and a second side end 812, the first side end 810 including one or more first connection points 814, and the second side end 812 including one or more second connection points 816. The pair of gearbox assemblies 804 include a drive shaft 818 extending between a first side gearbox 820 located at the first side end 810 and a second side gearbox 822 located at the second end 812. The drive shaft 818 of the paired gearbox assembly 804 carries the second pulley 824. The first pulley 808 is connected to the second pulley 824 via a drive belt 826, thereby engaging the first pulley 808 and the second pulley 824. Therefore, it should be understood that the first longitudinal axis of the motor output shaft 806 is arranged parallel to the second longitudinal axis of the drive shaft 818, and the motor output shaft 806 is arranged opposite the drive shaft 818 in an overlapping relationship. The offset motor 802 is offset relative to the drive shaft 818.

[0062] The first side gearbox 820 includes a first housing 828, while the second side gearbox 822 includes a second housing 830. A central mounting structure 832 is fixed to the base 102, and the first and second side gearboxes 820 and 822 are mounted to the central mounting structure 832. The central mounting structure 832 also houses the drive belt 826 and supports the offset motor 802, and is used to transfer loads between the first lower control arms 116 to the base 102.

[0063] The first side gearbox 820 includes a first gearbox input shaft 834 constituting a first torque input, and the second side gearbox 822 includes a second gearbox input shaft 836 constituting a second torque input. The first and second gearbox input shafts 834 and 836 each include first and second coaxial holes for receiving a first end 838 and a second end 840 of a drive shaft 818, which extends coaxially with the first and second gearbox input shafts 834 and 836. A second pulley 824 is located centrally between the first gearbox input shaft 834 and the second gearbox input shaft 836. The paired gearbox assembly 804 also includes a first output flange 842 constituting a first outward torque output at a first side end 810, and a second output flange 844 constituting a second outward torque output at a second side end 812. The first output flange 842 is connected to the first connection point 814 of the first lower control arm 116, and the second output flange 844 is connected to the second connection point 816 of the first lower control arm 116, such that the rotation axis of the tip 120 of the first lower control arm 116 is coaxial with the central axis of the first and second output flanges 842 and 844.

[0064] In this embodiment, the torque required to transmit the load between the first lower control arm 116 and the base 102 necessitates a pair of gearbox assemblies 804 to provide a high reduction ratio. The pair of gearbox assemblies 804 are mechanically optimized to minimize mass, maximize stiffness, and minimize volume, and to transmit the same input torque to the first side end 810 and the second side end 812 of the first lower control arm 116.

[0065] In operation, to rotate the first lower control arm 116 relative to the base 102, the offset motor 802 is activated, causing the motor output shaft 806 to rotate, and thus the first pulley 808 to rotate. The first pulley 808 then drives the second pulley 824 using a drive belt 826. The second pulley 824 rotates the drive shaft 818, and thus the first and second gearbox input shafts 834, 836 coupled to the drive shaft 818. The first and second output flanges 842, 844 then rotate in response to the rotation of the first and second gearbox input shafts 834, 836, but at a slower rate due to the aforementioned gear ratio. The rotation of the first output flanges 842 and 844, respectively coupled to the first side end 810 and the second side end 812 of the first lower control arm 116, rotates the first lower control arm 116 upwards or downwards, thereby raising or lowering the ball joint 128.

[0066] Compared to using a single gearbox mounted on one side of the first lower control arm 116, using a first side gearbox 820 and a second side gearbox 822 allows approximately half the torque to be applied to each of the first side end 810 and the second side end 812. Therefore, rotational inertia during yaw is reduced compared to other mechanical devices with the same total torque transmission capacity. Furthermore, the drive belt 826, combined with the low-torque sides of the first side gearbox 820 and the second side gearbox 822, optimizes the stiffness of the motion platform device 100 by reducing the elongation of the drive belt.

[0067] refer to Figure 3 In the above embodiments, the base 102 is rotatably mounted on the motion platform 190 and constitutes a turntable. The base 102 is driven by a motor and gearbox assembly that constitutes a yaw table motor and gearbox unit 192 via a circumferential drive belt (not shown). The ability to rotate the base 102 and thus the payload platform 134 is optional and depends on the implementation method employed. In another embodiment, the base 102 and the optionally configured motion platform 190 are mounted on a translation stage system that can translate linearly in two generally perpendicular directions, such as a transverse-longitudinal motion stage system (not shown), to provide transverse or longitudinal movement of the payload platform 134. The transverse-longitudinal motion stage system can be any suitable configuration to allow the payload platform 134 and / or the base 102 to translate along a transverse or longitudinal axis. However, the configuration of the transverse-longitudinal motion stage system is not the focus of understanding the embodiments described herein and will therefore not be described in further detail.

[0068] In yet another embodiment, a different drive mechanism for the base 102 is employed, as well as an alternative to the motor and gearbox unit / drive belt device of the aforementioned embodiments. (See reference...) Figure 10The motion platform 190 is a non-rotatable loading stage 900, such as a generally circular stage, although other shapes of stages may also be used. It includes an upright peripheral wall 902 extending generally vertically from the loading stage 900 towards the base 102. The peripheral sidewall 902, such as a circumferential sidewall, includes a first opposing surface 904 that supports a circumferential support rail 906. The base 102 is rotatable and is arranged opposite the loading stage 900 in a spaced-apart relationship. The base 102 includes a circumferential support frame 908 on its underside, forming a second opposing surface 910. The circumferential support frame 908 cooperates with the circumferential support rail 906 and forms a complementary peripheral support arrangement to facilitate low-friction rotational movement of the rotating base 102 during use. The rotating base 102 includes a through central hole 912 for receiving a yaw drive device 914. In this embodiment, the yaw drive 914 includes a centrally mounted motor 916 operably coupled to a centrally mounted gearbox 918, the centrally mounted motor 916 having a motor housing 920, and the centrally mounted gearbox 918 having a gearbox housing 922. The centrally mounted motor 916 includes an output shaft 924 operably coupled to an input shaft (not shown) of the centrally mounted gearbox 918. The centrally mounted gearbox 918 includes a gearbox output flange or surface 926. The gearbox output flange 926 is centrally mounted and fixedly fixed to the loading stage 900, and the gearbox housing 922 is fixedly fixed to a base 102. The base 102 includes a rotation axis coaxial with the center of the loading stage 900.

[0069] In this embodiment, the base 102 is as described in the foregoing related embodiments and is configured to support the first linkage 110, the second linkage 112, and the third linkage 114. However, it should be understood that in other embodiments, other linkage configurations may be employed that are opposite to the specific combination of rotary joints and ball joints described herein.

[0070] In operation, when driven, the output shaft 924 of the centrally mounted motor 916 rotates in response to an input control signal. Since the gearbox output flange 926 is fixed to the loading stage and cannot rotate freely, the motor housing 920 and gearbox housing 922, which are fixed to the rotating base 102 and can rotate freely via the circumferential support rail 906 and circumferential support frame 908, both rotate together with respect to the loading stage 900. Compared to the previously described embodiment, the yaw torque can be applied to the base 102 via the centrally mounted motor 916 due to the more direct drive path between the centrally mounted motor 916 and the base 102, resulting in improved rigidity.

[0071] In the above embodiment, the peripheral sidewall 902 extends away from the download stage 900 to provide space between the download stage 900 and the base 102 for convenient positioning of cables, etc. However, the arrangement of the peripheral sidewall 902 is optional, and the circumferential support rail 906 can be fixed to the outer periphery of the download stage 900, so this additional space is not required between the download stage 900 and the base 102.

[0072] Similar to the aforementioned embodiments, the download stage 900 can be optionally mounted on a translation stage system capable of linear translation in two generally perpendicular directions to provide lateral or longitudinal translation.

[0073] refer to Figure 4 In this embodiment, the first motor 172 is operably connected to the first output of the power drive unit 200 via the wiring sleeve 202. Similarly, the second and third motors 174 and 176 are operably connected to the second and third outputs of the power drive unit 200, respectively, via the wiring sleeve 202. When used for rotational motion about a vertical axis (yaw), for example, the yaw table motor and gearbox unit 192 are operably connected to the power drive unit 200 via the wiring sleeve 202.

[0074] refer to Figure 1 and 4 In this embodiment, the motion platform device 100 includes a first pair of configurable pneumatic supports 204 operably coupled to a first lower control arm 116 via a first pair of four-bar linkages 178 located on either side of a first gearbox 130. Each of the four-bar linkages 178 in the first pair is coupled to a first hinge joint 180 of the first lower control arm 116, which is eccentrically arranged relative to a first rotary joint 132. The motion platform device 100 also includes a second pair of configurable pneumatic supports 206 and a third pair of configurable pneumatic supports 208. The second pair of pneumatic supports 206 is coupled to a second lower control arm 148 via a second pair of four-bar linkages 182 located on either side of a second gearbox 154. Each of the four-bar linkages 182 in the second pair is coupled to a second hinge joint 184 of the second lower control arm 148, which is eccentrically arranged relative to a third rotary joint 156. The third pair of pneumatic support members 208 are connected to the third lower control arm 160 via a third pair of four-bar linkage devices 186 located on either side of the third gearbox 166. Each of the four-bar linkage devices 186 in the third pair is connected to the third hinge joint 188 of the third lower control arm 160, which is eccentrically arranged relative to the fifth rotary joint 168.

[0075] Each of the first, second, and third linkage mechanisms 110, 112, and 114 includes a base end and a load platform end away from the base end, and the first, second, and third pneumatic supports 204, 206, and 208 are respectively attached to the base ends of the first, second, and third linkage mechanisms 110, 112, and 114.

[0076] Although the first, second, and third pneumatic supports 204, 206, and 208 described herein are paired pneumatic supports, those skilled in the art will understand that one or more of the first, second, and third pneumatic supports 204, 206, and 208 may be a single pneumatic support operably coupled to the corresponding first, second, or third lower control arms 116, 148, and 182 via corresponding pairs of four-bar linkage devices 178, 182, and 186, for example, on one side of the first, second, and third gearboxes 130, 154, and 166, respectively. In fact, it should also be understood that although four-bar linkage devices are described herein, other linkage configurations may also be employed. In this embodiment, the first, second, and third pneumatic supports 204, 206, and 208 are spaced apart around the motion platform device 100 and, although coupled to the motion platform device, are separate from the first, second, and third linkages 110, 112, and 114.

[0077] It should also be understood that, in some embodiments, the use of the first, second, and third pneumatic supports 204, 206, and 208 is optional.

[0078] When the first, second, and third pneumatic support members 204, 206, and 208 are used, the power drive unit 200 is also operably coupled to the first pneumatic inflation unit 210, the second pneumatic inflation unit 212, and the third pneumatic inflation unit 214 via the wire conduit 202. The first, second, and third pneumatic inflation units 210, 212, and 214 are operably coupled to the first, second, and third pairs of pneumatic support members 204, 206, and 208, respectively. The first, second, and third pneumatic inflation units 210, 212, and 214 respectively include a first pneumatic reservoir 216, a second pneumatic reservoir 218, and a third pneumatic reservoir 220 to store pneumatic fluid. In this embodiment, the first, second, and third pneumatic support members 204, 206, and 208 are air springs. In some embodiments, the air springs may be formed of a bellows structure. Of course, as described above, in another embodiment, a single pneumatic support member may be used. In this embodiment, the first, second, and third pneumatic reservoirs 216, 218, and 230 are each capable of providing a single pneumatic support. In other embodiments, the use of a single or paired pneumatic support for each lower control arm 116, 148, and 160 may share a common pneumatic reservoir or multiple common pneumatic reservoirs.

[0079] In another embodiment, the vehicle simulator system includes a motion platform device 100, and may optionally include a base 102 rotatably mounted on a motion platform 190. The vehicle simulator system may also optionally include the lateral-to-longitudinal motion platform system described above.

[0080] In any case, the power drive unit 200 is operatively coupled to the processing resource 222 via the data bus 224. The processing resource 222 can be a standalone computing device, which can be a dedicated or programmable general-purpose computing device. In other embodiments, the processing resource 222 can be a distributed system, wherein processing power can be distributed across more than one processing device optionally located in different locations. In this embodiment, the processing resource 222 is a server rack that executes software to implement a vehicle simulator system. Any suitable operating system can be used, such as, but not limited to, Linux. TM or Windows TM .

[0081] Processing resource 222 is operatively incorporated into a data storage device, such as storage device 226 or a group of storage devices, which may be a hard disk drive, digital storage, or any combination thereof. Storage device 226 stores, for example, configuration data regarding one or more vehicles to be simulated, including the performance and / or handling characteristics of the vehicles to be simulated. Storage device 226 may also store data regarding one or more driving terrains, including visual data, geospatial data, and data that enables views from the simulator cockpit to be rendered. In this regard, it should be understood that the simulator cockpit is arranged on the payload platform 134 of the vehicle simulator system. Those skilled in the art will understand that storage device 226 may store other data, but since the types of data stored are not the focus of understanding the embodiments described herein, the contents of storage device 226 will not be described in further detail.

[0082] Processing resource 222 is operatively integrated into display driver system 228, which is operatively integrated into display output system 230, such as a projector and a panoramic screen for projecting a simulated environment thereon, which, when part of a vehicle simulator system, is positioned within the driver's field of view on payload platform 134. In this embodiment, display driver unit 228 is also operatively integrated into cockpit instruments 232, such as a graphic instrument panel display, and side and rearview mirror simulator displays (not shown).

[0083] Processing resource 222 is also operably integrated into audio output system 234 to provide the driver with simulated audio related to the simulated motion of the simulated vehicle. Processing resource 222 is also operably integrated into input processing unit 236, which is operably integrated into, for example, a so-called simulator pedal unit 238, simulator gear shifter 240, and simulator steering wheel 242. Of course, those skilled in the art will understand that other input devices can be provided in the cockpit.

[0084] refer to Figure 5 In operation, it has Figure 4The motion platform device 100 of the control system is powered on (step 300), and the software for controlling the motion platform device 100 is started and initialized (step 302). The driver can enter the cockpit located on the payload platform 134 before or after power-on and software initialization (steps 300 and 302). Once the software has been initialized (step 302), the driver can begin operating the driving simulation system as a driver. In other embodiments, the simulated vehicle can be driven by the simulation system, i.e., a passive human passenger residing in the cockpit during the simulation, for example: experiencing a replay of a previously recorded driving sequence, driven by an autonomous driving controller, and / or studying human perception of different movements. However, in this embodiment, the control system is configured to obtain input from actions performed by the driver (step 304), such as input provided by input devices (e.g., simulator pedal unit 238, simulator gear shifter 240, and simulator steering wheel 242). Upon receiving one or more inputs via the input processing unit 236, the processing resource 222 calculates the response regarding the control motion platform device 100 (step 306), and then provides a control command to the power drive unit 200 so that the response is executed by the first linkage 110, the second linkage 112 and / or the third linkage 114, the rotatable base 102 and / or the first pair of pneumatic supports 204, the second pair of pneumatic supports 206 and / or the third pair of pneumatic supports 208 (step 308). See below for reference. Figure 6 Further details on the calculation and effect of the response are described.

[0085] After executing the response, processing resource 222 determines whether a termination instruction has been received (step 310). If no termination instruction is received, processing resource 222 continues to execute the above steps until a termination instruction to terminate the simulation is received (steps 304 to 310).

[0086] Although not described, those skilled in the art will understand that processing resource 222 also manages and coordinates other outputs, such as auditory and visual responses. However, since these aspects are not the focus of understanding the operation of the motion platform device 100, they will not be described further herein for the sake of clarity and brevity.

[0087] refer to Figure 6 The operation of the first, second, and third linkages 110, 112, and 114, and the rotatable base 102, is described herein. For the sake of brevity and clarity, and to avoid departing from the significant aspects of the embodiments set forth herein, the operation will be described without reference to any use of the described transverse-vertical motion table system.

[0088] As will be understood, the control of the first, second, and third linkages 110, 112, and 114, as well as the rotation of the base 102, are independent. Therefore, the control of linkages 110, 112, and 114 and the base 102 occurs in parallel.

[0089] Regarding linkages 110, 112, and 114, based on the simulated vehicle model, processing resource 222 participates in multiple processing stages, ultimately generating the motion of the cockpit residing on the motion payload platform 134. For example, when the driver actively interacts with the simulation system, before the motion reaches the stage where the excitation motor moves the payload platform 134 in the intended manner, processing resource 222 uses the physical model of the simulated vehicle, along with input from the driver and simulated terrain, to determine the vehicle's motion. In this regard, the physical model provides a set of accelerations describing the motion of the simulated vehicle over time. A motion cue filter (not shown) uses each set of accelerations output by the vehicle physical model to determine a set of accelerations provided by the motion platform device 100, allowing the driver to perceive the accelerations calculated by the physical model. Therefore, processing resource 222, implementing the motion cue filter, calculates the three degrees of freedom of motion that the cockpit must experience (step 400) in response to motion cues derived from input from the driver using the aforementioned input devices and the simulated driving environment. Then, processing resource 222 calculates the required corresponding movement of one or more of the linkage mechanisms 110, 112, and 114 (step 400), and therefore calculates the actuation of one or more of the motors 172, 174, and 176 to achieve the required cockpit movement. Processing resource 222 generates one or more control commands (step 402) and transmits the one or more control commands to the power drive unit 200. The power drive unit 200 then sends actuation control signals to the one or more motors 172, 174, and 176 that need to move (step 404). Thereafter, in response to the actuation control signals, the motors 172, 174, and 176 associated with each of the linkage mechanisms 110, 112, and 114 are actuated respectively (step 406).

[0090] Depending on the actuated motors 172, 174, 176 and the direction of actuation, the output shafts 133, 153, 167 of the first, second, and / or third gearboxes 130, 154, 166 rotate the first lower control arm 116, the second lower control arm 148, and / or the third lower control arm 160 in a rotary manner, thereby raising or lowering the linkage mechanisms 110, 112, 114 (step 408), thus raising or lowering the corresponding peripheral raised portions 136, 138, 140. Referring to a further embodiment of the first motor 172, actuation of the first gearbox 130 causes the first output shaft 133 of the first gearbox 130 to rotate (constrained to rotational motion) in a clockwise or counterclockwise direction (depending on the direction indicated to the first motor 172), which results in the first lower control arm 116 rotating about the longitudinal axis of the first output shaft 133 due to the constraint of the rotary joint 132. The second motor 174 and the third motor 176 can also influence this movement relative to the second linkage 112 and the third linkage 114. It can be seen that the first, second, and third peripheral raised portions 136, 138, and 140 can thus be raised or lowered independently under the control of the vehicle simulation software, according to the needs of the processing resource 222. In this respect, the raising and lowering of each of the first, second, and third raised portions 136, 138, and 140 via the first linkage 110, second linkage 112, and third linkage 114 is selective. The selective raising and lowering of the first, second, and third peripheral raised portions 136, 138, and 140 by the first, second, and third linkages 110, 112, and 114 can apply roll, pitch, and / or vertical displacement to the payload (e.g., the simulator cockpit) located on the payload platform 134.

[0091] Of course, those skilled in the art should understand that the above-described embodiments in which the lower control arms 116, 148, 160 are fixed to the corresponding output shafts of the transverse motor / gearbox assembly are not the only ways to raise the lower control arms 116, 148, 160. For example, the motor and gearbox assembly can be directly attached to the lower control arms 116, 148, 160, or in another embodiment, a pushrod assembly can be used, thereby enabling the motor and gearbox to operate via a linkage mechanism attached to each of the lower control arms 116, 148, 160 to form a bell-crank assembly.

[0092] Regarding yaw motion, based on the output of the physical model and motion cue filters, yaw motion is calculated in a manner similar to that described above for lateral, roll, and / or pitch motions to obtain the required motion in the four degrees of freedom. These motions are then used to calculate, specifically, the yaw motion required for the rotatable base 102 (logic motion control) (step 410), which is provided in real-time as a position demand flow transmitted to the power drive unit 200 as related work performed by the yaw stage motor and gearbox unit 192 (step 412). The power drive unit 200 responds to the receipt of the yaw command by generating a rotational actuation signal and sending it to the yaw stage motor and gearbox unit 192 (step 414). Thereafter, in response to the rotational actuation signal, the yaw stage motor and gearbox unit 192 associated with the rotation of the base 102 is actuated (step 416). The motors of the yaw stage motor and gearbox unit 192, according to the operation of the rotational actuation signal, cause the motor and gearbox unit 192 to rotate the base 102 in a manner required to process resource 222 (step 418). The payload platform 134 and the cockpit thus carried by the payload platform 134 therefore undergo rotational motion applied to the base 102.

[0093] refer to Figure 7 The weight of the cockpit is constantly subjected to vertical reaction forces due to gravity. Furthermore, the center of gravity of the cockpit (not shown), attached to the payload platform 134, is rarely properly centered relative to the payload platform 134, which generates roll and pitch moments (which also inevitably have constant reaction forces). Therefore, in this embodiment, before operation, the amount of offset of the cockpit's center of gravity relative to the payload platform 134 is measured and stored in the storage device 226. Other embodiments are also possible and will be described below.

[0094] Therefore, when the simulation software is initialized (step 302), in this embodiment, a part of the initialization process includes processing resource 222 retrieving user-defined configuration settings (step 500), which includes offset information stored in storage device 226. In this regard, in this embodiment, processing resource 222 supports configurator 246, which retrieves user-defined configuration settings and calculates the forces that must be applied to the first, second, and third aerodynamic supports 204, 206, 208 (step 502) to compensate for cockpit weight due to gravity and cockpit center of gravity shift by utilizing appropriate restoring vertical force, roll moment, and pitch moment.

[0095] Using the calculated restoring force and pitch and roll moments, the configurator 246 of resource 222 then identifies which of the first, second, and third pneumatic supports 204, 206, and 208 needs to be set (step 504). The configurator 246 also calculates the applied support force to be applied by the pneumatic support identified among the first, second, and third pneumatic supports 204, 206, and 208 (step 506). In other embodiments, the forces applied by the first, second, and third pneumatic supports 204, 206, and 208, or the settings of the first, second, and third pneumatic supports 204, 206, and 208, can be pre-calculated and constitute a user-defined configuration setting. In practice, in such embodiments, the user-defined configuration setting can be calculated as a function of the payload mass and the distribution of the payload mass relative to the payload platform 134. Indeed, in another exemplary embodiment where the force is dynamically updated, the force can be automatically and repeatedly calculated during operation of the device 100.

[0096] Once the force to be applied by each of the first, second, and third pneumatic supports 204, 206, and 208 is calculated (step 506), the configurator 246 instructs the power drive unit 200 to pressurize the first, second, and third pneumatic supports 204, 206, and 208 (step 508) to apply the calculated force to each of the first, second, and third pneumatic supports 204, 206, and 208. In response to instructions from the processing resource 222, the power drive unit 200 sends control signals to the first pneumatic inflation unit 210, the second pneumatic inflation unit 212, and the third pneumatic inflation unit 214 to inflate the first, second, and third pneumatic supports 204, 206, and 208, respectively. Therefore, the first, second, and third pneumatic supports 204, 206, and 208 apply calculated forces independently and are thus independently configurable and / or actuated, thereby reducing the workload of each of the first, second, and third electric motors 172, 174, and 176.

[0097] In this embodiment, the forces applied by the first, second, and third pneumatic supports 204, 206, and 208 are calculated once according to user-defined configuration settings and applied once throughout the entire operation of the motion platform device 100. In this regard, the calculated forces can be calculated manually or automatically when the device 100 is started. Furthermore, although the settings of the first, second, and / or third pneumatic supports 204, 206, and 208 are automatic in this embodiment, the manually or automatically calculated forces can be applied by manually setting the first, second, and / or third pneumatic supports 204, 206, and 208. In another embodiment, the forces applied by the first, second, and third pneumatic supports 204, 206, and 208 can be automatically calculated and dynamically changed during the operation of the motion platform device 100.

[0098] In this regard, refer to Figure 8The resource 222 then calculates the current extension of the first, second, and third linkages 110, 112, and 114 (step 600), and thus calculates the applied support forces that the first, second, and third pneumatic supports 204, 206, and 208 need to apply in order to compensate for the cockpit weight caused by gravity and cockpit center of gravity shift using appropriate restoring vertical force, roll moment, and pitch moment. The calculated forces are then compared with the forces currently applied by the first, second, and third pneumatic supports 204, 206, and 208 (step 602). Before operation, a predetermined threshold is set for the deviation between the forces applied by the first, second, and third linkages 110, 112, and 114 and the forces currently applied by the first, second, and third pneumatic supports 204, 206, and 208. If the deviation is not greater than a predetermined threshold (step 604), processing resource 222 continues to calculate the vertical force, as well as the pitch and roll moments, and determines whether the forces applied by the first, second, and third pneumatic supports 204, 206, and 208 need to be adjusted (steps 600 to 604). However, if the deviation is greater than the predetermined threshold (step 604), processing resource 222 adjusts the forces applied by the first, second, and third pneumatic supports 204, 206, and 208 (step 606) to the calculated currently desired level (step 600). In this respect, and as in the previous embodiments, processing resource 222 instructs the power drive unit 200 to pressurize the first, second, and third pneumatic supports 204, 206, and 208 to apply the calculated force to each of the first, second, and third pneumatic supports 204, 206, and 208. In response to instructions from processing resource 222, power drive unit 200 sends control signals to first pneumatic inflation unit 210, second pneumatic inflation unit 212, and third pneumatic inflation unit 214 to inflate or deflate the first, second, and third pneumatic supports 204, 206, and 208, respectively. Thereafter, processing resource 222 continues to calculate vertical force and roll and pitch moments, and determines whether adjustments to the forces applied by the first, second, and third pneumatic supports 204, 206, and 208 are needed (steps 600 to 604).

[0099] Those skilled in the art will understand that the above embodiments are merely examples of various embodiments conceivable within the scope of the appended claims. Therefore, although the above examples assume that each pneumatic support 204, 206, 208 (expanded into a pair for each lower control arm or a single support for each lower control arm) has a corresponding pneumatic reservoir 216, 218, 220 associated with each lower support arm 116, 148, 160, other methods of providing the pneumatic supports 204, 206, 208 are possible depending on how they are used. For example, when the pneumatic supports 204, 206, 208 are set up before use, the pneumatic reservoirs 216, 218, 220 for each of the pneumatic supports 204, 206, 208 can be connected to a single pneumatic inflation unit via a three-way valve. In another embodiment, the shared storage unit can be shared by pneumatic supports 204, 206, and 208, with inflation of each pneumatic support 204, 206, and 208 provided by corresponding pneumatic inflation units 210, 212, and 214. In yet another embodiment, each pneumatic support 204, 206, and 208 can be serviced by a corresponding compressed air supplier, without using an associated storage unit.

[0100] While the above embodiments describe vehicle simulation, it should be understood that it is not necessary to simulate all aspects of a vehicle, and vehicle simulation can be about one or more performance aspects of the vehicle. Furthermore, the motion platform device 100 is not intended exclusively for land-based vehicle simulation, but is considered for other applications, such as amphibious or aircraft vehicles, or in fact any application where motion is desired to be applied to human occupants.

[0101] In the embodiments described herein, the positional reference of any element, such as upper or lower, above or below, is made in the context of the element's position relative to the ground. However, those skilled in the art will understand that such ground reference terminology is not intended to be restrictive, but can be appropriately adjusted where it may orient the element differently from ground coordinates.

Claims

1. A vehicle simulation motion platform device, the device comprising: The payload platform has an external raised section; The base has an external anchoring section; as well as A linkage mechanism is configured to connect the peripheral anchoring portion to the peripheral raising portion, the linkage mechanism including a first linkage mechanism; in: The first linkage mechanism includes a first arm, the first end of which is operably coupled to the first end of a second arm via a ball joint; The second end of the first arm is operably coupled to one of the anchoring parts of the peripheral anchoring parts via a first rotary joint; The second end of the second arm is operably coupled to one of the raised portions of the peripheral raised portion via a second rotary joint; The device further includes a drive system having an electric motor constituting an actuator, and the electric motor being coupled to a paired gearbox assembly; and The paired gearbox assembly includes a drive shaft extending between a first side gearbox located at a first side end of the first arm and a second side gearbox located at a second side end of the first arm.

2. The apparatus according to claim 1, wherein, The first arm is the first fork.

3. The apparatus according to claim 2, wherein, The second arm is the second fork.

4. The apparatus according to claim 3, wherein, The neck end of the first fork is operatively coupled to the neck end of the second fork.

5. The apparatus according to claim 3, wherein, The first fork is the first zygomatic bone, and the second fork is the second zygomatic bone.

6. The apparatus according to claim 2, wherein, The first linkage mechanism is configured to selectively raise the raised portion.

7. The apparatus according to claim 6, wherein, The actuator is configured to move the first linkage within its extended range.

8. The apparatus according to claim 7, wherein, The actuator is operatively coupled to the tip of the first fork.

9. The apparatus according to any one of the preceding claims, wherein, The linkage mechanism also includes: The second linkage mechanism includes a third arm, the first end of which is operably connected to the first end of a fourth arm, and the second end of which is operably connected to another anchoring part in the peripheral anchoring parts; and The second end of the fourth arm is operatively coupled to another raised portion of the peripheral raised portion.

10. The apparatus according to claim 9, wherein, The linkage mechanism also includes: The third linkage mechanism includes a fifth arm, the first end of which is operably connected to the first end of a sixth arm, and the second end of which is operably connected to another anchoring point among the peripheral anchoring points; and The second end of the sixth arm is operably coupled to another raised portion of the peripheral raised portion.

11. The apparatus of claim 10, further comprising: A turntable, the turntable including the base.

12. The apparatus of claim 10, further comprising: A translation stage capable of linear translation in two substantially perpendicular directions, and a motion platform device operatively coupled to the translation stage.

13. A vehicle simulator system, the system comprising: The motion platform device according to any one of the preceding claims.

14. The system of claim 13, further comprising: The monitor is positioned within the field of view; The processing resources are operably integrated into the display and the motion platform device; wherein: The processing resources control the operation of the motion platform device, thereby simulating the performance aspects of a vehicle.

15. A method for shifting the payload platform of a vehicle simulator, the method comprising: The first end of the first arm is joined to the first end of the second arm via a ball joint; The second end of the first arm is connected to one of the peripheral anchoring parts of the base via the first rotary joint; The second end of the second arm is connected to one of the peripheral raised sections of the payload platform via a second rotary joint. The peripheral anchoring portion is raised by selectively actuating the combined first and second arms using a drive system having an electric motor coupled to a paired gearbox assembly. The paired gearbox assembly includes a drive shaft that extends between a first side gearbox located at a first side end of the first arm and a second side gearbox located at a second side end of the first arm.

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