Props for attraction systems

Abstract

A prop for an attraction system includes a first plate, a second plate coupled to the first plate and configured to move relative to the first plate, and a biasing support coupled to the first plate and extending between the first plate and the second plate, the biasing support including a mesh structure and configured to deform during relative movement between the first plate and the second plate and to apply a force to the first plate, the second plate, or both upon deformation.

Description

[Technical Field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims priority to and the benefit of U.S. Provisional Application No. 63 / 400,929, entitled "ANIMATED PROP FOR AMUSEMENT PARK SYSTEM," filed August 25, 2022, which is incorporated herein by reference in its entirety for all purposes. [Background technology]

[0002] This section is intended to introduce the reader to various aspects of art that may be related to various aspects of the present technology, which are described and / or claimed below. This discussion is believed to be helpful in providing the reader with background information to facilitate a better understanding of the various aspects of the present disclosure. As such, it should be understood that these statements are to be read in this light, and not as admissions of prior art.

[0003] Amusement parks and other entertainment venues may use special effects to help immerse guests in the ride or attraction experience. Immersive environments may include three-dimensional (3D) props and scenery, robotic or mechanical elements, and / or display surfaces for presenting media. Immersive environments may also include sound effects, smoke effects, and / or motion effects. Thus, immersive environments may include a combination of dynamic and static elements. However, implementing and operating special effects can be complex. For example, it can be difficult to get certain elements of a special effect to operate in a desired manner to create an immersive environment, such as activating a prop to produce a desired movement. With the increasing sophistication and complexity of modern ride attractions and corresponding rising expectations among guests, improved and more creative attractions are desirable, including ride attractions with special effects that provide an immersive environment. Summary of the Invention

[0004] In one embodiment, an entertainment system prop includes a first plate, a second plate coupled to the first plate and configured to move relative to the first plate, and a biasing support having a mesh structure coupled to the first plate and extending between the first plate and the second plate, the biasing support configured to deform during relative movement between the first plate and the second plate and to apply a force to the first plate, the second plate, or both upon deformation.

[0005] In one embodiment, the articulation system includes a first plate, a second plate coupled to the first plate, a first extension coupled to the first plate at a first attachment point, a second extension coupled to the first plate at a second attachment point, and a biasing support coupled to the first plate and the second plate, the biasing support having a first region that engages the first attachment point and a second region that engages the second attachment point, the first region of the biasing support having a first stiffness and the second region of the biasing support having a second stiffness, the first stiffness and the second stiffness being different from one another.

[0006] In an embodiment, a method of actuating a prop includes moving a first plate of the prop relative to a second plate of the prop via an actuator of the prop, the prop including a biasing support coupled between and extending between the first and second plates, the biasing support configured to deform during movement between the first and second plates.

[0007] These and other features, aspects, and advantages of the present disclosure will be better understood from the following detailed description when read in conjunction with the accompanying drawings, in which like reference characters refer to like elements throughout. [Brief explanation of the drawings]

[0008] [Figure 1]FIG. 1 is a block diagram of an embodiment of an attraction system having a prop with an articulation system, according to aspects of the present disclosure. [Figure 2] 1 is a schematic diagram of an embodiment of a prop having an articulation system, according to aspects of the present disclosure; FIG. [Figure 3] FIG. 10 is a side view of an embodiment of an articulation system that may be employed within a prop, in accordance with aspects of the present disclosure. [Figure 4] FIG. 10 is a detailed side view of an embodiment of an articulation system that may be employed within a prop, in accordance with aspects of the present disclosure. [Figure 5] FIG. 10 is a partial perspective view of an embodiment of a biased support that may be employed within an articulation system of a prop, in accordance with aspects of the present disclosure. [Figure 6] FIG. 10 is a top view of an embodiment of a joint system having a biased support coupled to a plate, in accordance with aspects of the present disclosure. [Figure 7] FIG. 10 is a partial perspective view of an embodiment of a biasing support coupled to a plate, according to aspects of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0009] When introducing elements of various embodiments of the present disclosure, the articles "a," "an," and "the" are intended to mean the presence of one, two, or more of the element. The terms "comprising," "including," and "having" are intended to be inclusive and mean that there may be additional elements other than the listed elements. Furthermore, references to "one embodiment" or "an embodiment" of the present disclosure are not intended to be interpreted as excluding the existence of additional embodiments that also contain the recited features.

[0010]

[0013] One or more specific embodiments of the present disclosure will be described below. For purposes of brevity, not all features of implementations may be described herein. It should be understood that the development of any such implementation, as in any engineering or design project, requires numerous implementation-specific decisions to achieve the developer's particular objectives, including compliance with system- and business-related constraints that may vary from implementation to implementation. Moreover, while such a development effort may be complex and time-consuming, it should be understood to be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill in the art having the benefit of this disclosure.

[0011] Embodiments of the present disclosure relate to attraction systems. The attraction system can be an amusement park attraction system. Additionally or alternatively, the system can be used outside the entertainment industry, including or applicable to fields such as manufacturing, research, medical devices, and robotics in general. Amusement parks can include a variety of attraction systems. Attraction systems can include rides (e.g., roller coasters, water rides, drop towers), performance shows, walkways (e.g., walkways can include static paths and / or moving walkways), and the like, having features that can entertain guests (e.g., amusement park guests). Attraction systems can also include props that can be actuated to produce desired effects. For example, props can include actuatable portions and can be controlled to drive movement of and / or within such portions. Movement of and / or within such portions of the prop can provide a realistic appearance to the prop and / or enhance the effects of the attraction and / or attraction system. Thus, props can be controlled to provide a realistic immersive environment to entertain guests.

[0012] Unfortunately, it can be difficult to control the desired movement of a prop using conventional techniques. For example, it can be difficult to move parts of the prop to desired or target positions relative to one another to provide a desired appearance for the prop. Additionally or alternatively, a particular positioning of the prop, which places various parts of the prop in a relative orientation relative to one another, may impose an undesirable amount of stress on certain parts of the prop. Thus, the movement of the prop, and the corresponding effect provided to the guest, may be undesirable.

[0013] Accordingly, it is now recognized that improvements for controlling prop movement are desirable. Accordingly, embodiments of the present disclosure relate to a prop having a joint system that facilitates the movement and / or stability of the prop. The prop may include an animated prop, actuatable scenery, and / or an animated figure. The animated prop may include actuatable scenery and / or an animated figure. The joint system may include a joint assembly. The joint system may include multiple plates coupled to one another and configured to move relative to one another via intervening joints. The movement may include translation, rotation, orientation (e.g., change of orientation), and / or positioning (e.g., change of position). One or more extensions, such as cables, may be coupled to one or more of the plates. One or more respective actuators may adjust one or more extension lengths of the one or more extensions to apply a force that moves the plates relative to one another. Additionally, one or more biasing supports may be disposed between and coupled to adjacent plates. Each biasing support can apply a force to the plates to improve control of their movement. For example, the biasing supports can provide a force to dampen, limit, eliminate, and / or prevent undesired movement (e.g., movement caused by a force not applied by the extensions) and / or undesired forces (e.g., forces not applied by the extensions) between the plates to maintain a desired positioning between the plates. The biasing supports can also reduce stresses imparted to the extensions during movement (e.g., including undesired movement) and / or actuation of the prop. For example, during operation of one of the actuators to decrease the extension length of a first extension, the plates can move relative to one another (e.g., the ends of the plates can move apart), exerting a tensile force on the second extension.Meanwhile, the biased support coupled to the second extension can absorb a portion of the tensile force, thereby reducing the tensile force transmitted to the second extension. As a result, the structural integrity of the second extension can be maintained. Additionally or alternatively, the biased support can reduce stress transmitted to the extension when a force (e.g., the force can include an undesirable force) is applied to the prop. The undesirable force can include forces external to the prop that are applied to the prop. For example, these forces can include a drop force, a force applied by wind, a collision force, an acceleration force due to transporting the prop, and / or other external forces. The undesirable movement can include movement induced by the undesirable force.

[0014] In some embodiments, the biasing support can include a mesh structure (e.g., a lattice structure, a webbed network) having interconnecting struts and / or support structures that form spaces and define open-celled arrangements. The mesh structure can be manufactured with a specific profile that applies a certain amount of force to the plates to facilitate desired positioning between the plates. As an example, the mesh structure can have a high density (e.g., a high structural material-to-space ratio) to apply a relatively greater force to the plates compared to a mesh structure having a lower density, thereby increasing movement resistance and damping, limiting, eliminating, and / or preventing relative movement between the plates. Additionally or alternatively, the mesh structure can have a low density (e.g., a low structural material-to-space ratio) to apply a relatively less force to the plates compared to a mesh structure having a higher density, thereby reducing movement resistance and facilitating relative movement between the plates. In practice, mesh structures with desirable structural characteristics (e.g., material density) can be more easily manufactured to enable desired relative movement between the plates, and thus, prop actuation, to be achieved. In some embodiments, the mesh structure can have a generally uniform design with a generally constant cell size throughout the structure. In some embodiments, the mesh structure can be non-uniform, with different cell sizes represented within the structure. Variations in density of the mesh structure can be due to variations in the structural configuration and / or materials of the struts and / or support structures of the mesh structure.

[0015] With this in mind, FIG. 1 is a block diagram of an attraction system 50. As one example, the attraction system 50 may include rides (e.g., roller coasters, dark rides), performance shows, and the like. The attraction system may be part of an amusement park system (e.g., an amusement park). As another example, the attraction system 50 may include and / or be part of dining areas, waiting areas, walkways, shopping areas (e.g., gift shops), or other suitable portions of an amusement park. The attraction system 50 may include a guest area 52 in which guests may be located. For example, the guest area 52 may include ride vehicles 54 that may move and / or change position, location, and / or orientation within the attraction system 50. Additionally or alternatively, the ride vehicles may also move and / or change position, location, and / or orientation within the amusement park. Additionally or alternatively, the guest area 52 may include a guest path 56 that guests use to move through (e.g., pass through) the attraction system 50, such as the exterior of the ride vehicles 54. Guest area 52 may further include a spectator area 58, which may include general spaces such as seating and / or standing areas where guests may be located. Indeed, guest area 52 may include any suitable features for accommodating guests within attraction system 50.

[0016] The attraction system 50 may also include props 60 configured to provide entertainment for guests in the guest area 52. The props 60 may include animated props. For example, the props 60 may provide an immersive environment for guests, establish a theming corresponding to the guest area 52, etc. The animated props 60 may include an articulation system 62 configured to actuate (e.g., a cable driven spinal assembly, a ligament-style mechanism, a hyper-redundant manipulator, a continuum robot, a continuum manipulator, a soft robotic system, a soft robotic manipulator). As an example, the articulation system 62 may operate to adjust the positioning of the animated prop 60 to provide a realistic appearance for the animated prop 60. For example, operation of the articulation system 62 may facilitate establishing a realistic environment for guests by providing realistic movement and / or actuation of the animated prop 60 and / or its components.

[0017] In some embodiments, the prop 60 may include or be coupled to an actuator 64 configured to drive and / or actuate the articulation system 62, thereby articulating, actuating, and / or animating the prop 60. By way of example, the actuator 64 may be communicatively coupled to a control system 66 (e.g., an automation controller, a programmable controller, an electronic controller, a control circuit) configured to operate the actuator 64. The control system 66 may include a memory 68 and a processing circuit 70. The memory 68 may include volatile memory, such as random access memory (RAM), and / or non-volatile memory, such as read-only memory (ROM), an optical drive, a hard disk drive, a solid-state drive, or any other non-transitory computer-readable medium that contains instructions for operating the attraction system 50. The processing circuit 70 may be configured to execute such instructions. For example, the processing circuit 70 may include one or more application-specific integrated circuits (ASICs), one or more field-programmable gate arrays (FPGAs), one or more general-purpose processors, or any combination thereof.

[0018] The control system 66 may be configured to control (e.g., command) the actuators 64 to control the actuation of the articulation system 62 and, therefore, the actuation of the prop 60. In one embodiment, the control system 66 may be communicatively coupled to the sensors 72 and operate based on data received from the sensors 72. As one example, the sensors 72 may be configured to measure, detect, and / or determine operational parameters of the guest area 52, such as the positioning of the guests (e.g., relative to the prop 60), the positioning of the ride vehicles 54 (e.g., relative to the prop 60), and the amount of guests. As another example, the sensors 72 may be configured to determine different operational parameters, such as the time of day, the ride cycle, user interaction with the prop 60, and the like. The control system 66 may be configured to automatically (e.g., without further user input from a guest, operator, and / or technician) operate the actuators 64 based on the data received from the sensors 72. The control system 66 may operate the actuators by controlling (e.g., commanding) the actuators 64. The sensors 72 may include a control system or may be communicatively coupled to a control system that makes the above-described determinations. Additionally or alternatively, the control system 66 may receive data measured and / or detected by the sensors 72 and determine operational parameters and / or different operational parameters of the guest area 52. As another example, the control system 66 may be configured to operate the actuators 64 based on user input. To this end, the control system 66 may include a user interface (UI) 74 with which the user can interact. The UI 74 may include, for example, a touch screen, switches, buttons, a trackpad, a gesture sensor, a dial, another suitable feature, or any combination thereof. User input may be transmitted via interaction between the user and the UI 74, and the control system 66 may activate the actuators 64 based on the user input.Thus, the control system 66 may actuate the articulation system 62, and therefore the prop 60, in response to receiving user input. The prop 60, articulation system 62, guest area 52, control system 66, actuators 64, and / or sensors 72 may all include and / or be communicatively coupled to receivers, transmitters, and / or transceivers, and may communicate with each other via the receivers, transmitters, and / or transceivers.

[0019] As described further herein, the articulation system 62 of the prop 60 may include various components that can move and / or adjust the position and / or orientation relative to one another to enable actuation of the articulation system 62. Actuation of the articulation system may include moving and / or adjusting the position and / or orientation of a component of the articulation system relative to another component of the articulation system. The articulation system 62 may also include one or more supports coupled to the components. The one or more supports may facilitate actuation, stability, and / or positioning of the articulation system 62 and / or one or more of its components. In this manner, the articulation system 62 may better operate (e.g., via the actuators 64, via the control system 66) to provide a desired appearance for the prop 60. For example, the structure of the articulation system 62 may have a spring constant that provides forces that reduce stress on certain components of the articulation system 62 and / or that facilitate a certain amount of relative movement between certain components of the articulation system 62. Thus, the articulation system 62 may operate in a more desirable manner.

[0020] FIG. 2 is a schematic diagram of an embodiment of a prop 60 that can utilize an articulation system 62. In the illustrated embodiment, the prop 60 includes an octopus having multiple tentacles 90. However, other prop configurations are also contemplated. One or more of the tentacles 90 can be actuated using the articulation system 62 to provide the appearance of realistic movement (e.g., of a real-world octopus) by bending, flexing, curving, twisting, etc. For example, the articulation system 62 can include multiple plates 92, where adjacent plates 92 can be coupled to one another at joints 94. The joints 94 can include ball-and-socket joints, universal joints, or another suitable joint that can couple, attach, and / or connect the plates 92 to one another. In such an embodiment, the plates 92 can be separate components coupled, attached, and / or connected to one another via the joints 94. Additionally or alternatively, the plates 92 can be part of a single, integral material (e.g., a hard, flexible plastic) that is deformable (e.g., elastically deformable). In either case, plates 92 can move relative to one another via joints 94 to actuate tentacles 90 .

[0021] The articulation system 62 may also include biasing supports 96 extending between adjacent plates 92. That is, the biasing supports 96 may occupy at least a portion of the space or gap formed between adjacent plates 92. For example, the biasing supports 96 may be coupled and / or secured to opposing surfaces of each adjacent plate 92. Thus, movement of the plates 92 relative to one another may cause a corresponding adjustment, deformation, and / or distortion of the biasing supports 96. As one example, as the plates 92 move toward one another, a portion of the biasing supports 96 may be compressed. As another example, as the plates 92 move away from one another, a portion of the biasing supports 96 may be stretched or expanded. Thus, the biasing supports 96 may be constructed of flexible materials, such as mesh structures, elastically deformable materials, foams, and springs, allowing the shape of the flexible material to be adjusted, thereby facilitating movement of the plates 92 relative to one another.

[0022] The biasing supports 96 may also apply a force to the plates 92 to which they are coupled, and the amount of force applied to the plates 92 may be based on the spring constant of the biasing supports 96. As an example, in a default configuration of the articulation system 62 (e.g., an inactive configuration, a non-actuated configuration), such as a configuration in which adjacent plates 92 are oriented generally parallel to one another, the biasing supports 96 may be pre-compressed and / or pre-tensioned to dampen, limit, eliminate, and / or prevent undesired relative movement between the plates 92. Pre-compressing the biasing supports 96 (e.g., the plates 92 compress the biasing supports 96 in the default configuration) may cause the biasing supports 96 to apply a corresponding force to each plate 92 to dampen, limit, eliminate, and / or prevent movement (e.g., translation, rotation, and / or orientation) of the plates 92 relative to one another. By pre-tensioning the biasing supports 96 (e.g., by having the plates 92 tension the biasing supports 96 in the default configuration), the biasing supports 96 can apply a corresponding force to each plate 92 to dampen, limit, eliminate, and / or prevent movement (e.g., translation, rotation, and / or orientation) of the plates 92 away from one another. In either case, the biasing supports 96 can maintain the desired positioning of the plates 92 relative to one another by reducing undesired movement between the plates 92 and increasing the stability of the default configuration. Additionally, the biasing supports 96 can act to smooth the actuation of the individual plates 92 to create a more realistic movement profile.

[0023] As another example, in a motion configuration (e.g., an active configuration) of the articulation system 62 in which the plates 92 move relative to one another, such as via the actuators 64, the biasing supports 96 can apply different amounts of force and / or displacement to different portions of the plates 92. For example, the biasing supports 96 can apply a force to first portions (e.g., first edges, faces, and / or surfaces) of the plates 92 that urge the first portions away from one another and a force to second portions (e.g., second edges, faces, and / or surfaces opposite the first edges, faces, and / or surfaces) of the plates 92 that urge the second portions toward one another. The urging motion can include movement, translation, rotation, and / or orientation. As described further herein, such forces applied to the plates 92 by the biasing supports 96 can reduce stresses transmitted to other components of the articulation system 62.

[0024] Actuation of the actuator 64 (e.g., extension and / or contraction and / or rotation of one or more components of the actuator) may cause relative movement of the plates 92, adjusting the geometry of the articulation system 62 and thereby actuating the articulation system 62. The biasing supports 96 may facilitate such movement of the plates 92 to enable desired positioning, orientation, and / or actuation of the articulation system 62. For example, the biasing supports 96 may limit the amount of force and / or torque applied by the actuator 64 to move the plates 92. In embodiments in which the control system 66 is communicatively coupled to the actuator 64, the biasing supports 96 may facilitate operation of the control system 66 to actuate the articulation system 62 via the actuator 64. Thus, the biasing supports 96 may facilitate movement of the prop 60 to produce a desired effect via the articulation system 62.

[0025] The biasing support 96 can include a gel, semi-solid, and / or fluid (e.g., liquid, gas), and can include a membrane including a gel, semi-solid, and / or fluid, as appropriate. In embodiments, the biasing support 96 can include areas of different geometries and / or materials, which can allow for different force distribution throughout different areas of the biasing support 96. The biasing support 96 can include multiple sections including different materials and / or geometries, which can be stacked, side-by-side, nested, or spaced apart. The geometry of the biasing support can include a direction-biased geometry, which can include a geometry that allows for a large deformation in one direction under one magnitude of force, while deforming less in a different direction under the same magnitude of force.

[0026] FIG. 3 is a side view of an embodiment of the articulation system 62. For example, the illustrated embodiment may include a default configuration of the articulation system 62. Each plate 92 may include a base 120, and the bases 120 of adjacent plates 92 may be coupled to one another at respective joints 94. The joints 94 may allow and / or enable relative movement between the bases 120, thereby enabling relative movement between the plates 92. The bases 120 may also offset adjacent plates 92 from one another to form spaces 122 between the adjacent plates 92. Biasing supports 96, shown by dashed lines, may be positioned between adjacent plates 92 and extend through the spaces 122, for example, surrounding the joints 94 and / or the bases 120 within the spaces 122. In the illustrated example, the biasing supports 96 are coupled to plate edges such that they are positioned at or near the periphery of one or more plates 92. In some embodiments, the biasing supports 96 may extend at least partially into the interior spaces 122.

[0027] As described herein, the biasing supports 96 can be secured to each of the adjacent plates 92. For example, a first side 124 of one of the biasing supports 96 can be coupled and / or attached to a first plate 92A (e.g., an end plate) to dampen, limit, eliminate, and / or prevent relative movement between the first side 124 of the biasing support 96 and the first plate 92A. A second side 126 of the biasing support 96 opposite the first side 124 can also be coupled and / or attached to a second plate 92B (e.g., a middle plate adjacent to the end plate) to dampen, limit, eliminate, and / or prevent relative movement between the second side 126 of the biasing support 96 and the second plate 92B. Thus, relative movement of the first plate 92A and the second plate 92B can cause the first side 124 and the second side 126 of the biasing support 96 to move relative to one another, adjusting the shape of the biasing support 96 (e.g., stretching the biasing support 96 or compressing the biasing support 96). Adjusting the shape of the biasing support 96 (e.g., by applying a force, pressure, and / or displacement to the biasing support) can cause the biasing support 96 to apply a force to the first plate 92A and / or the second plate 92B to facilitate adjusting the relative movement between the first plate 92A and / or the second plate 92B and / or maintaining the positioning of the first plate 92A and / or the second plate 92B. Alternatively, modifying the default shape (e.g., changing the design of the shape rather than the amount of force currently being applied to the biasing support 96) can change how the biasing support 96 and the rest of the system behave when a force is applied to the biasing support 96. The biasing supports 96 can be a unitary structure coupled to each plate 92. In some embodiments, the biasing supports 96 can be formed from separate substructures that are individually coupled to adjacent plates 92 and extend between the plates 92.

[0028] In the illustrated embodiment, a first actuator 128 (e.g., a first motor, a first winch) and a second actuator 130 (e.g., a second motor, a second winch) are operable to actuate the articulation system 62. By way of example, the first actuator 128 may include or be coupled to a first extension 132, such as a first cable, a first wire, or a first rope. The second actuator 130 may include or be coupled to a second extension 134, such as a second cable, a second wire, or a second rope. The first extension 132 may also be coupled to the first plate 92A, and the extension length of the first extension 132 may extend from the first actuator 128 to the first plate 92A. Similarly, a second extension 134 can be coupled to the first plate 92A, and the length of the second extension 134 can extend from the second actuator 130 to the first plate 92A. Each extension 132, 134 can extend through another plate 92 (e.g., the second plate 92B) to the first plate 92A. To this end, the other plate 92 can include an opening through which the extension 132, 134 can extend. Extensions such as extensions 132, 134 can be coupled to plates other than the first plate 92A, and different extensions can be coupled to different plates.

[0029] The openings in the other plate 92 can allow relative movement between the extensions 132, 134 and the other plate 92. For example, the extensions 132, 134 can be slidable through the openings in the other plate 92. However, the extensions 132, 134 can be fixedly coupled to the first plate 92A. For example, the first extension 132 can be coupled to a first attachment point 136 on the first plate 92A, and the second extension 134 can be coupled to a second attachment point 138 on the first plate 92A. By way of example, the attachment points 136, 138 can be located at opposite ends of the first plate 92A. Relative movement of the extensions 132, 134 and the other plate 92 can cause the first plate 92A to move relative to the other plate 92, thereby actuating the articulation system 62, due to the relative movement of the attachment points 136, 138 and the other plate 92, respectively. As an example, retracting (e.g., shortening the extension length) of extensions 132, 134 that extend from actuators 128, 130 to first plate 92A (e.g., to attachment points 136, 138), respectively, can move first plate 92A toward the other plate 92 (e.g., toward actuators 128, 130). Extending (e.g., increasing the extension length) of extensions 132, 134 that extend from actuators 128, 130 to first plate 92A can move first plate 92A away from the other plate 92 (e.g., away from actuators 128, 130).

[0030] For example, actuation of the second actuator 130 to retract the second extension 134 from the second actuator 130 to the first plate 92A (e.g., by winding or rolling up the second extension 134) may apply a force to the first plate 92A at the second attachment point 138, causing the second attachment point 138 to move toward the second plate 92B via the joint 94 that couples and / or connects the first plate 92A to the second plate 92B. This movement of the first plate 92A relative to the second plate 92B may also apply a force that similarly moves the second plate 92B toward the adjacent plate 92 via the corresponding joint 94, and similar forces may also be applied to the remaining plates 92, causing the remaining plates 92 to move relative to one another. Additionally, when the second attachment point 138 moves toward the second plate 92B by retracting the second extension 134 extending from the second actuator 130 to the first plate 92A, the first attachment point 136 moves away from the second plate 92B, which in turn moves the second plate 92B away from the adjacent plate 92, and so on. Thus, the extension length of the first extension 132 extending from the first actuator 128 to the first plate 92A can be increased (e.g., the first actuator 128 can provide more slack in the first extension 132). In this manner, actuation of the second actuator 130, which causes the second extension 134 to retract from the second actuator 130 to the second attachment point 138, and a corresponding increase in the extension length of the first extension 132 from the first actuator 128 to the first attachment point 136, cooperate to cause the plates 92 to rotate relative to one another in a rotational direction 140. Thus, movement of each of the actuators 128, 130 can be controlled to actuate the articulation system 62.

[0031] While the illustrated embodiment includes two extensions 132, 134, further or alternative embodiments may include any suitable number of extensions, such as one extension, three extensions, or four or more extensions. A corresponding actuator may comprise and / or control each extension. By way of example, additional extensions may be implemented to allow additional movement of plates 92 relative to one another, such as in additional rotational directions.

[0032] The control system 66 can be configured to operate the actuators 128, 130 independently of one another. That is, for example, the control system 66 can operate the first actuator 128 to retract the first extension 132 extending from the first actuator 128 to the first attachment point 136, and separately operate the second actuator 130 to increase the extension length of the second extension 134 extending from the second actuator 130 to the second attachment point 138. In this manner, the control system 66 can operate the articulation system 62 to precisely adjust the extension lengths of the extensions 132, 134 extending from the actuators 128, 130, respectively, to the first plate 92A to provide the desired positioning and / or movement of the plates 92 relative to one another.

[0033] The extensions 132, 134 may also be coupled and / or connected to the first plate 92A through the biasing support 96. Accordingly, the biasing support 96 may also include openings through which the extensions 132, 134 may pass, and such openings may allow relative movement between the extensions 132, 134 and the biasing support 96. The biasing support 96 may reduce the movement of the actuators 128, 130, such as the respective amounts of force and / or torque applied by the actuators 128, 130, to achieve a desired positioning of the articulation system 62. As an example, the biasing support 96 may apply a force to maintain the positioning of the first plate 92A relative to the second plate 92B, and the positioning of the other plates 92 relative to each other, without applying substantial force to the attachment points 136, 138 with the movement of the actuators 128, 130. For example, the biasing supports 96 coupled to the first plate 92A and the second plate 92B can dampen, limit, eliminate, and / or prevent undesired movement of the first attachment point 136 toward the second plate 92B and / or dampen, limit, eliminate, and / or prevent undesired movement of the second attachment point 138 toward the second plate 92B while the extensions 132, 134 are not applying a substantial amount of force to the first plate 92A. In this manner, reduced movement of the actuators 128, 130 can be facilitated by the actuators 128, 130 maintaining the relative positioning between the plates 92 via the biasing supports 96 rather than through the actuation of the extensions 132, 134.

[0034] Additionally, in some embodiments, any of the plates 92 (e.g., the first plate 92A) can be coupled to and / or attached to an additional component. The additional component can include a weight, an actuator, a robotic manipulator, an end effector, and / or a light emitting device (e.g., a light bulb, a light emitting diode (LED)). In such embodiments, the extensions 132, 134 can support the weight of the additional component. Thus, the additional component can apply additional forces (e.g., the weight of the additional component, the weight of an object the additional component picks up) to the extensions 132, 134. The bias supports 96 can absorb and / or distribute additional forces applied by the additional component and / or reduce the amount of force applied by the additional component acting on the extensions 132, 134. In this manner, the bias supports 96 can facilitate movement of the plate 92 (e.g., to cause corresponding movement of the additional component) and / or stability of the plate 92 (e.g., to maintain the position of the additional component).

[0035] The bias support 96 can also have regions with different stiffnesses (e.g., stiffness constants, spring constants). Thus, different regions of the bias support 96 can apply different amounts of force to the plate 92. As an example, a first region of the bias support 96 adjacent the first extension 132 can have a higher stiffness (e.g., stiffness constant, spring constant) than a second region of the bias support 96 adjacent the second extension 134. Thus, a relatively greater force and resistance can be applied to the portion of the plate 92 adjacent the first extension 132. As a result, the amount of force applied to the first extension 132 (e.g., via the first actuator 128) to move the plate 92 can be greater than the amount of force applied to the second extension 134 (e.g., via the second actuator 130) to similarly move the plate 92. Variation in the stiffness of the bias support 96 can affect the desired movement of the plate 92 via operation of the actuators 128, 130. As an example, utilizing a biasing support 96 having a region of relatively low spring constant adjacent to the second extension 134 can facilitate operation of the first actuator 128 to move the plate 92 via the first extension 132 (e.g., via a relatively low output torque).

[0036] 4 is a detailed diagram of an embodiment of the articulation system 62. For example, the illustrated embodiment may include a motion configuration for the articulation system 62 that includes moving the second attachment point 138 toward the second plate 92B (e.g., retracting the second extension 134 from the corresponding actuator toward the first plate 92A) to move the first plate 92A in a rotational direction 140 relative to the second plate 92B. As a result, the illustrated motion configuration may correspondingly drive the first attachment point 136 away from the second plate 92B. Accordingly, the first end 160 of the bias support 96 coupled to the first plate 92A (e.g., at the first attachment point 136) may expand, and the second end 162 of the bias support 96 coupled to the first plate 92A (e.g., at the second attachment point 138) may compress.

[0037] In further embodiments, the biasing supports 96 can apply forces to the plates in opposite directions (e.g., opposite direction 166). For example, the biasing supports 96 can urge the first plate 92A and the second plate 92B to move away from each other. In this manner, the biasing supports 96 can facilitate the movement of the extensions 132, 134 to move the first plate 92A (e.g., first attachment point 136, second attachment point 138) away from the second plate 92B. Additionally or alternatively, the biasing supports 96 can simultaneously apply a first series of forces of magnitude and / or direction to the first plate 92A and / or the second plate 92B (e.g., to the compressed second end 162 in the illustrated movement configuration) and a second series of forces of magnitude and / or direction (e.g., to the expanded first end 160 in the illustrated movement configuration). The simultaneous application of forces of a first series of magnitudes and / or directions and forces of a second series of magnitudes and / or directions can provide a force balance that can facilitate operation of the articulation system 62 (e.g., dispersing forces that would otherwise be transmitted to the extensions 132, 134 and corresponding actuators during movement of the first plate 92A relative to the second plate 92B).

[0038] The bias support 96 may also apply different amounts of force at different regions of the bias support 96. For example, the bias support 96 may include a first region 168 that engages the first attachment point 136 and a second region 170 that engages the second attachment point 138. The stiffness of the first region 168 may be greater than the stiffness of the second region 170. Thus, in the illustrated movement configuration, the force applied by the bias support 96 to the first end 160 of the plate 92 may be greater than the force applied by the bias support 96 to the second end 162 of the plate 92. Simultaneously applying different amounts of force to different portions of the plate 92 may result in more desirable actuator movement. For example, in the illustrated movement configuration, an increase in the force applied to the first end 160 of the plate 92 by the biasing support 96 may result in a greater reduction in the stress transferred to the first extension 132, maintaining the structural integrity of the first extension 132 and / or allowing for a reduction in the action of the first actuator 128 (see FIG. 3 ), for example, to move the plate 92.

[0039] Similarly, additional biasing supports 96 coupled to other plates 92 of the articulation system 62 can facilitate relative movement between the plates 92. That is, the additional biasing supports 96 can reduce the force that must be applied to cause relative movement between the plates 92 by applying a force that urges movement between different portions of the plates 92 (e.g., as a result of deformation of the biasing supports 96). Thus, the additional biasing supports 96 can further reduce the stress imparted to the extensions 132, 134 and / or further reduce the movement of the actuator during movement to actuate the articulation system 62. In fact, the implementation of additional biasing supports 96 can improve the operation of the articulation system 62.

[0040] 5 is a partial perspective view of an embodiment of a biasing support 96. The illustrated biasing support 96 includes a mesh structure 180 having interconnecting materials, such as struts, to form an open-cell arrangement of spaces 182 (e.g., holes, openings, gaps). The mesh structure 180 may include a flexible and / or resiliently deformable material, such as a resin and / or a polymer (e.g., rubber, elastic), to facilitate deformation of the mesh structure 180 (e.g., due to movement of plates coupled to the biasing support 96). Such materials may also extend the useful life of the joint system by providing sufficient structural integrity to resist wear and / or fatigue due to constant deformation during relative movement between the plates.

[0041] Additionally, the arrangement of mesh structure 180 can facilitate the generation and / or acceptance of forces transmitted to specific portions of biasing support 96, resulting in relative movement between plates coupled to biasing support 96. As one example, increasing the density of mesh structure 180 in a volume by increasing the amount of material in the volume of mesh structure 180 and decreasing the amount of void 182 in the volume can increase the spring constant of biasing support 96, increase the force imparted by biasing support 96, and / or increase the resistance to deformation of biasing support 96 in the volume. As another example, decreasing the density of mesh structure 180 in a volume by decreasing the amount of material in the volume of mesh structure 180 and increasing the amount of void 182 in the volume can decrease the spring constant of biasing support 96, decrease the force imparted by biasing support 96, and / or decrease the resistance to deformation of biasing support 96 in the volume. Different regions of mesh structure 180 can have different densities, and therefore different spring constants. Thus, mesh structure 180 can be configured to apply different amounts of force in different regions.

[0042] For example, different biasing supports 96 can have mesh structures 180 with different densities and / or stiffnesses to adjust and / or bias resistance to plate movement caused by actuator actuation (e.g., to adjust the amount and / or directionality of plate movement resulting from a particular amount of force or torque applied by the actuator). In some embodiments, different biasing supports 96 can be interchangeably implemented in the articulation system. As an example, to reduce plate movement caused by actuator actuation, biasing supports 96 with higher densities and / or stiffness can be implemented in the articulation system to increase the resistance to relative movement between the plates. That is, actuator movement (e.g., force applied by the actuator) can be maintained while reducing relative movement between the plates through the implementation of new biasing supports 96. Similarly, to increase plate movement caused by actuator actuation, biasing supports 96 with lower densities and / or stiffness can be implemented in the articulation system to reduce the resistance to relative movement between the plates. In this manner, adjustment of the articulation system's movement can be facilitated by reducing relative movement between the plates by adjusting the biasing supports 96 implemented in the articulation system without having to change the operation and / or implementation of the actuators and / or the control system configured to operate the actuators.

[0043] The mesh structure 180 can also be manufactured to provide other properties. As one example, the mesh structure 180 can be manufactured to control the manner in which the mesh structure 180 deforms, such as reducing the amount that the mesh structure 180 expands outward (e.g., away from the joint to which the plate is attached) during compression. As another example, the mesh structure 180 can be manufactured to have spaces 182 of specific sizes, such as spaces 182 of reduced individual sizes (e.g., diameters) to limit, exclude, and / or prevent the insertion and / or incorporation of undesirable particles (e.g., debris, dirt, other joint system components) within the mesh structure 180. Indeed, the mesh structure 180 can have a variety of structural characteristics to provide desirable properties for implementation in a joint system.

[0044] The mesh structure 180 can also be manufactured to allow for fixation of the mesh structure 180 to the plates. As an example, the mesh structure 180 can form spaces 182 that allow for the insertion of a separate component, such as a zip tie, magnet, adhesive (e.g., resin cure, glue), snap, button, and / or hook, through one of the spaces 182 to couple and / or attach the mesh structure 180 to one of the plates. For example, the component can compress the mesh structure 180 against the plate to secure the mesh structure 180 to the plate. Additionally or alternatively, the mesh structure 180 can form features, such as punches, inserts, and / or keys, that can engage with the plate to secure the mesh structure 180 to the plate. The mesh structure 180 and the plate can also be easily decoupled or disengaged from one another (e.g., without the user having to use additional tools) to facilitate removal of the biased support 96 from the articulation system for maintenance, replacement, inspection, and the like.

[0045] The spaces 182 defined by the mesh structure 180 can also be sized to allow for insertion of extensions through the mesh structure 180 (e.g., to allow the extensions to extend toward the plate). In one embodiment, the biasing support 96 can include sleeves, sheaths, enclosures, walls, partitions, etc. that the mesh structure 180 can define to shield the extensions from the mesh structure 180. Thus, to maintain the structural integrity of the extensions and / or mesh structure 180, contact between the extensions and the mesh structure 180 can be limited, eliminated, and / or prevented. For example, limiting, eliminating, and / or preventing contact between the extensions and the mesh structure 180 can attenuate, limit, eliminate, and / or prevent undesirable forces that the extensions exert on the mesh structure 180, such as during deformation of the biasing support 96, and / or can attenuate, limit, eliminate, and / or prevent undesirable forces that the mesh structure 180 exerts on the extensions. The clearance provided by mesh structure 180 can be sufficient to facilitate movement of the plate and actuation of the articulation system by avoiding restriction of movement of the extensions through space 182 and facilitating relative movement between the extensions and mesh structure 180. If the clearance is narrow enough, pushing actuation utilizing the extensions can be facilitated. For example, a sleeve, sheath, or enclosure can provide additional external support to the extensions, increasing the extensions' ability to apply a pushing force without failing while maintaining structural integrity.

[0046] In some embodiments, the mesh structure 180 can be manufactured via additive manufacturing (e.g., three-dimensional (3D) printing). Such a manufacturing process can allow for greater control over the arrangement of the mesh structure 180 to provide the desired behavior and / or appearance of the articulating system. For example, an additive manufacturing machine can be pre-programmed or pre-configured to operate and form a mesh structure 180 having a particular density value, a particular mesh strut size / shape, a particular mesh or cell type / shape, a particular density distribution, and / or a particular density profile. However, in further or alternative embodiments, other manufacturing techniques can be used to form the mesh structure 180. For example, injection molding and / or subtractive manufacturing can be utilized.

[0047] In addition to or instead of mesh structure 180, biasing supports 96 can also include other features that apply a biasing force to the plates that are deformable via relative movement between the plates. For example, biasing supports 96 can include foam, springs (e.g., coil springs), etc., and such structures can also be manufactured to provide different resistance to relative movement between the plates (e.g., via different biasing supports 96 in different regions of the structure). Indeed, any suitable structure configured to apply a biasing force to the plates can be utilized in biasing supports 96.

[0048] Any of the biased supports 96 described herein can also be incorporated into existing joint systems. For example, a specific mesh structure 180 can be manufactured to fit an existing joint system based on the desired plate movement, the size of the space between the plates, and the plate specifications (e.g., dimensions) of the existing joint system. Thus, the benefits provided by the biased supports 96 can be realized for any suitable joint system, including joint systems that have not previously employed the biased supports 96.

[0049] FIG. 6 is a top view of an embodiment of the articulation system 62 illustrating the connection between a portion of the biasing support 96 and one of the plates 92. In the illustrated embodiment, the biasing support 96 includes a fastener opening 210 (e.g., one of the spaces 182 in the mesh structure 180). The fastener opening 210 can allow a fastener 212 to be inserted through the biasing support 96 and into the plate 92. For example, the fastener 212 can be utilized to connect the mesh structure 180 to the plate 92 and / or to connect the plate 92 to another component (e.g., a base). Additionally, the plate 92 can include various extension openings 214 into which respective extensions can be inserted, such as for connection to an end plate. In the assembled configuration of the articulation system 62, each extension opening 214 can align with a corresponding space 182 in the mesh structure 180, allowing each extension to pass through the plate 92 and mesh structure 180 via the aligned extension opening 214 and space 182.

[0050] In the assembled configuration, the bias support 96 can surround an interior volume 216 (e.g., a chamber, an interior space) within the articulation system 62. That is, the bias support 96 can define an opening that can align with the interior volume 216. In one embodiment, a joint that couples multiple plates together can be located within the interior volume 216. Thus, in the assembled configuration, the bias support 96 can surround the joint.

[0051] While the illustrated embodiment shows the plate 92 and biasing support 96 having a circular or elliptical shape, in further or alternative embodiments, the plate 92 and / or biasing support 96 may have any suitable shape. For example, the plate 92 may be triangular, rectangular, pentagonal, etc., and the biasing support 96 may have a shape corresponding to the shape of the plate 92. By manufacturing the biasing support 96 to have a shape corresponding to the shape of the plate 92, the contact area between the biasing support 96 and the plate 92 may be increased, facilitating fixation of the biasing support 96 to the plate 92. As a result, deformation or adjustment of the biasing support 96 coupled to the plate 92 due to relative movement between the plates 92 may be more desirable.

[0052] FIG. 7 is a perspective view of an embodiment of the biasing support 96. In the illustrated embodiment, the mesh structure 180 of the biasing support 96 includes a slot 240 configured to receive the plate 92 to couple the biasing support 96 to the plate 92. For example, the plate 92 can be inserted into the slot 240, allowing the mesh structure 180 to capture the plate 92 within the slot 240, thereby damping, limiting, eliminating, and / or preventing relative movement between the plate 92 and the biasing support 96. In one embodiment, additional components and / or features (e.g., zip ties, magnets, adhesives, snaps, hooks, punches, inserts, keys) can be utilized to further secure the plate 92 and the biasing support 96. Additionally, the biasing support 96 can define multiple slots 240 to couple the biasing support 96 to multiple plates 92. Thus, a single biasing support 96 can be implemented to provide desired relative movement between more than two plates 92. For example, a joint system having three or more plates 92 may utilize a single biasing support 96 extending between adjacent plates 92. Thus, manufacturability of the biasing support 96 may be improved over, for example, the manufacture of separate biasing supports 96 disposed between adjacent plates 92.

[0053] Other embodiments for controlling the relative movement between the plates 92 of the articulation system may also be utilized in certain articulation systems. As an example, a single, integral part including the mesh structure 180 and the plates 92 may be implemented. For example, different materials may be utilized for the mesh structure 180 and the plates 92 to provide the articulation system via a single manufacturing process (e.g., additive manufacturing). Manufacturing a one-piece part including both the bias support 96 and the plates 92 may further improve manufacturability compared to, for example, separately manufacturing the bias support 96 and the plates 92 and bonding the separately manufactured bias support 96 and plates 92 together.

[0054] While only certain features of the present disclosure have been illustrated and described herein, many modifications and changes will occur to those skilled in the art and it is, therefore, to be understood that the appended claims are intended to cover all such modifications and changes as fall within the true spirit of the present disclosure.

[0055] The technology shown and claimed herein refers to and applies to tangible objects and specific examples of a practical nature that will materially improve the art, and thus are not abstract, intangible, or purely theoretical. Furthermore, if any claim appended at the end of this specification contains one or more elements designated as "means for (performing) ... (function)" or "step for (performing) ... (function)," such elements are to be construed pursuant to 35 U.S.C. 112(f). Conversely, for any claim containing elements designated in any other manner, such elements are not to be construed pursuant to 35 U.S.C. 112(f). [Explanation of symbols]

[0056] 50 Amusement Park System 52 Guest Area 54 Vehicles 56 Guest Routes 58 Spectator Area 60 animated props 62 Joint System 64 Actuator 66 Control System 68 memory 70 Processing circuit 72 sensors 74 User Interface

Claims

1. A prop for an attraction system, a plurality of plates including a first plate and a second plate coupled to the first plate and configured to move relative to the first plate; a biasing support including a mesh structure coupled to the first plate and the second plate and extending between the first plate and the second plate; wherein the biasing support is configured to deform during relative movement between the first plate and the second plate, and the biasing support is configured to apply a force to the first plate, the second plate, or both upon deformation. A prop characterized by:

2. an actuator; and an extension coupled to the actuator, the extension extending from the actuator through the second plate to the first plate, the actuator configured to adjust an extension length of the extension extending from the actuator to the first plate to cause relative movement between the first plate and the second plate; The gadget of claim 1 .

3. the mesh structure of the biasing support defines an opening, and the extension passes through the biasing support through the opening. The gadget of claim 2.

4. the actuator is configured to retract the extension extending from the actuator to the first plate to move the first plate toward the second plate. The gadget of claim 2.

5. the mesh structure of the biasing support includes an interconnecting material that forms spaces within an open cell arrangement, the mesh structure including varying material densities in different regions of the mesh structure; The gadget of claim 1 .

6. the first plate and the second plate are coupled to one another at a joint, and the biasing support surrounds the joint. The gadget of claim 1 .

7. the mesh structure includes a first region and a second region, the first region having a first spring constant and the second region having a second spring constant, the first spring constant and the second spring constant being different from each other; The gadget of claim 1 .

8. 1. A joint system comprising: a first plate; a second plate coupled to the first plate; a first extension coupled to the first plate at a first attachment point; a second extension coupled to the first plate at a second attachment point; a biasing support coupled to the first plate and the second plate; the biasing support includes a first region that engages the first attachment point and a second region that engages the second attachment point, the first region of the biasing support having a first stiffness and the second region of the biasing support having a second stiffness, the first stiffness and the second stiffness being different from one another. A joint system characterized by:

9. the second plate is coupled to the first plate at a joint, the first plate configured to move relative to the second plate around the joint to deform the biasing support, and the biasing support configured to apply a force to at least the first plate upon deformation via relative movement between the first plate and the second plate. The joint system of claim 8.

10. the biasing support includes a lattice structure; The joint system of claim 8.

11. the lattice structure in the first region has a first structural material-to-space ratio and the lattice structure in the second region has a second structural material-to-space ratio, the first structural material-to-space ratio being greater than the second structural material-to-space ratio such that the first spring constant is greater than the second spring constant; The joint system of claim 10.

12. the biasing support defines a slot configured to receive the second plate, the biasing support configured to capture and couple the second plate within the slot. The joint system of claim 8.

13. the biasing support defines an opening configured to receive a fastener coupling the biasing support to at least the first plate or the second plate; The joint system of claim 8.

14. each of the first extension and the second extension extends through the second plate and the biasing support to the first plate; The joint system of claim 8.

15. 1. A method of actuating a prop, comprising: moving a first plate of the prop relative to a second plate of the prop via an actuator of the prop, the prop including a biasing support coupled between the first plate and the second plate and extending between the first plate and the second plate, the biasing support configured to deform during movement between the first plate and the second plate; A method characterized by:

16. the prop includes an extension coupled to the first plate, and moving the first plate relative to the second plate includes adjusting the extension via the actuator.

16. The method of claim 15.

17. the extension is coupled to the actuator and the first plate, and moving the first plate relative to the second plate includes adjusting an extension length of the extension extending from the actuator to the first plate via the actuator.

17. The method of claim 16.

18. the extension is coupled to the first plate at an attachment point, and moving the first plate relative to the second plate via the actuator moves the attachment point toward the second plate, thereby compressing the bias support at the attachment point.

17. The method of claim 16.

19. the prop includes a further extension coupled to the first plate at a further attachment point, the method including moving the first plate relative to the second plate via a further actuator of the prop to move the further attachment point away from the second plate, thereby expanding the biased support at the further attachment point.

20. The method of claim 18.

20. moving the first plate relative to the second plate includes operating the actuator via a control system.

16. The method of claim 15.

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