motion generation device

Abstract

To provide an improved motion generation device. [Solution] The motion generation device comprises a platform for supporting an occupant, a base assembly, and three support arms configured to support the platform above the base assembly. Each support arm is connected to the carrier at its lower end via an arm carrier joint and to the platform at its upper end via an arm platform joint. Each carrier is movably mounted on the base assembly so as to be independently movable in a first and second direction. For each support arm, the arm carrier joint is a slewing joint having a single rotational degree of freedom about the pivot axis, and the arm platform joint is a rotary joint having three rotational degrees of freedom. A torsion bar is configured to provide biasing torque for offsetting the payload of the device.

Description

[Background technology]

[0001]

[0001] The present invention relates to a motion generation device. This motion generation device may have particular applications in simulating motions related to vehicles on land, in the air, in space, or at sea, including, for example, vehicles, such as motorized land vehicles, aircraft, spacecraft, or ships. Some embodiments of the present invention may be particularly suited to automotive simulations, including automotive motorsport simulations.

[0002]

[0002] Motion platform systems that provide multiple degrees of freedom of movement are known, which allow an occupant to receive a wide range of motions that provide a realistic sense of being in a simulated environment, such as the sensation of occupying and / or operating a vehicle, such as an automobile. Such systems generally aim to generate motions of an occupant carrier that are well-tuned to match the motion of a vehicle. The simulated motions can then facilitate stimulation of the occupant's somatosensory and vestibular systems and improve the occupant's ability to operate and / or control a real vehicle that is the subject of the simulation.

[0003]

[0003] For example, a motion platform system including an occupant carrier mounted on the platform can provide the occupant with an accurate sense of being inside a motor racing car. A motion platform system with six degrees of freedom can provide, for example, translational motion of the platform in the surge, sway, and heave directions, i.e., along the respective X, Y, and Z axes of the motion platform, and rotational motion in roll, pitch, and yaw, i.e., around the respective X, Y, and Z axes of the platform.

[0004]

[0004] Several known motion platform systems use parallel manipulators. For example, the Stewart platform has a platform connected to a base unit by six telescopic struts or actuators. The Stewart platform tends to be unsuitable for many simulation requirements, and several configurations have been proposed to address some of the shortcomings of this type of motion platform. The most relevant configuration selections are described below.

[0005]

[0005] The motion platform system described in International Publication No. 2014 / 087172 (Williams Grand Prix Engineering) is intended to alleviate some of the limitations of the Stewart platform. In International Publication No. 2014 / 087172, the height of the occupant carrier platform is adjusted by a pair of first motors, each of which drives a first support or carriage along the inclined surface of a second support or wedge to independently control the height of each occupant carrier support rail. The occupant carrier support rails slidably support the platform for relative sliding movement in the surge direction. The second support is located on either side of the occupant carrier support rail and is driven by second motors that are movable along a laterally extending base track. The second motors drive the second support laterally along the base track to move the converging occupant carrier support rails together or apart laterally, thereby providing yaw and surge motion. Due to the nature of the convergently inclined crew carrier platform configuration between converging crew carrier support rails, the configuration in International Publication No. 2014 / 087172 has been found to have insufficient controllability (i.e., the ability to control the operating platform in a timely and accurate manner) and / or insufficient length of travel range on the surge axis. While it is possible to improve controllability by increasing the "V" angle of the crew support rails in the platform system design, this may adversely affect the overall surge travel.

[0006]

[0006] An alternative operating platform configuration is shown in U.S. Patent Application Publication 2018 / 0096622 (McLaren Applied Technologies Limited). The configuration in U.S. Patent Application Publication 2018 / 0096622 has a platform mounted on four support arms, each support arm mounted on a thread. In U.S. Patent Application Publication 2018 / 0096622, the surge motion is produced by moving the threads on both sides of the platform toward each other. Since the sides of the platform converge, this movement produces a sliding motion in the coupling between the support arms and the edges of the platform, causing the platform to slide forward. While the configuration described in U.S. Patent Application Publication 2018 / 0096622 may function well for certain types of movement, it has been found that the configuration in U.S. Patent Application Publication 2018 / 0096622 also suffers from the same shortcomings as in International Publication 2014 / 087172, namely, the configuration may have insufficient controllability (i.e., the ability to control the operating platform in a timely and precise manner) and / or an insufficient travel range along the surge axis.

[0007]

[0007] Generally, providing insufficient surge travel can cause problems during sustained brake queuing, which can lead to the occupant misperceiving brake fade as the travel runs out before the platform system finishes queuing. In known designs, extending the range of surge travel by having the platform overhang strike the floor may not be practical. Furthermore, when a known operating platform is at the end of a surge, the center of gravity of the moving mass is often in a substantially different position than when the platform is in a neutral position. Gas supports are often adjusted primarily so that the platform is positioned relatively close to the neutral position to support the load. At extreme positions, the platform may be inherently unbalanced, and the support provided by the gas supports may be suboptimal. Controlling the platform system at such extreme positions can be difficult, as maintaining such positions typically generates peak current demands in the drive motors, which can lead to system instability.

[0008]

[0008] International Publication No. 2021 / 019213 discloses an operating platform having an occupant carrier portion comprising first, second and third guide portions rotatably connected by coupling members to first, second and third control pillars constrained to move independently in a plane. The guide portions of the occupant carrier portion are inclined with respect to the plane and with respect to each other, thereby restricting the movement of the coupling members along the guide portions.

[0009]

[0009] International Publication No. 2024 / 094960 discloses an operating platform comprising a coupling that engages with an inclined portion of a control member. By driving the control member laterally, the coupling is pushed in a direction along the inclined path.

[0010]

[0010] While the configurations in International Publication No. 2021 / 019213 and International Publication No. 2024 / 094960 work very well for specific applications, particularly for performance envelopes, these configurations may not necessarily be as suitable for other applications where other areas of the performance envelope are more relevant.

[0011]

[0011] Another example of the prior art is a multi-stage system in which one stage provides yaw, surge, and sway, and another stage provides heave, pitch, and roll. Multi-stage systems can adversely affect the stiffness and high-frequency response of the motion platform system. Those skilled in the art will understand that the frequency response of a motion platform system (i.e., its ability to perform high-speed motion, such as its ability to simulate impact motion associated with hitting bumps in the road) is related to the mechanical stiffness of the motion platform and the moving mass body, as well as the actuators used to impart motion. Such multi-stage platform systems can be heavy, and excessive weight and lack of stiffness have a significant adverse effect on the frequency response of the motion platform, particularly on the high-frequency response.

[0012]

[0012] Aspects of the present invention aim to mitigate or overcome at least one problem of the prior art and / or to provide an improved motion generation device. [Overview of the Initiative]

[0013]

[0013] According to a first aspect of the present invention, a motion generating device is provided comprising a platform for supporting an occupant, a base assembly, and three support arms configured to support the platform above the base assembly. Each support arm may be connected to a carrier at its lower end via an arm carrier joint and to the platform at its upper end via an arm platform joint. Each carrier is movably mounted on the base assembly such that the carrier is independently movable in a first (X) direction and a second (Y) direction, the first and second directions being orthogonal to each other. For each support arm, either the arm carrier joint or the arm platform joint may be a slewing joint having a single rotational degree of freedom about a pivot axis, and the other of the arm carrier joint or arm platform joint may be a rotary joint having three rotational degrees of freedom.

[0014]

[0014] Such a configuration has been shown to allow the platform to move in six degrees of freedom and to enable relatively isotropic performance over its range of motion. In particular, this configuration can enable improved surge performance without necessarily adversely affecting performance in other degrees of operation and / or excessively reducing the level of controllability.

[0015]

[0015] The first direction and the second direction are orthogonal to each other. The first direction and the second direction may be in a horizontal plane. As used herein with respect to motion generating devices and their components, horizontal direction or plane means a direction or plane substantially parallel to the ground or other support surface or surface on which the motion generating device is mounted. Perpendicular, or perpendicular, is understood to mean perpendicular to such lateral or horizontal direction or plane.

[0016]

[0016] In principle, the movement of the carrier in the X and Y directions can be carried out in several different ways. However, in a preferred embodiment, the base assembly comprises a first set of tracks for enabling the movement of the carrier in a first X direction and a second set of tracks for enabling the movement of the carrier in a second Y direction. The carrier may be mounted on the first set of tracks for movement along the tracks in a first direction. The first set of tracks may be mounted for movement along the second set of tracks. In such an embodiment, the movement of the carrier in a second direction can be enabled by the movement of the first set of tracks along that direction. The first set of tracks may comprise three tracks, to which one of the carriers is mounted.

[0017]

[0017] Each rotary joint has three rotational degrees of freedom. Preferably, each rotary joint does not have a translational degree of freedom. The rotary joint may include any suitable form of rotatable joint, such as a ball joint, gimbal, or universal joint.

[0018]

[0018] Each swivel joint has a single rotational degree of freedom about the pivot axis. Preferably, each swivel joint does not have a translational degree of freedom.

[0019]

[0019] The pivot axes of the swivel joints may all be in the same plane or in parallel planes. The pivot axes of the swivel joints may be oriented so that they are not parallel to each other. More preferably, the pivot axes are oriented at substantially equal angles to each other, for example, 120 degrees to each other.

[0020]

[0020] For each support arm, the arm platform joint may be a swivel joint having a single rotational degree of freedom. For each support arm, the arm carrier joint may be a rotary joint having three rotational degrees of freedom. Such a configuration has been found to be particularly beneficial in that it allows for movement of six degrees of freedom, for example, and ease of control of the motion control device.

[0021]

[0021] Each support arm may have a wishbone, or may be in the form of a wishbone. The wishbone may be configured such that the arm carrier joint is located at the converging end of the wishbone. The wishbone may be configured such that the arm platform joint is located at the branching end of the wishbone. Such configurations have been found to be particularly beneficial in embodiments in which the arm platform joint is a swivel joint.

[0022]

[0022] The support arms, or each support arm, may be elastically biased against rotation about the pivot axis. The support arms, or each support arm, may be elastically biased against, for example, torque about the pivot axis resulting from the static load of the platform (and components mounted thereon). Such a configuration may facilitate payload offset and allow the actuation assembly for driving the motion control device to be kept relatively small / low power.

[0023]

[0023] The arms, or each arm, may be equipped with an elastic biasing member for providing elastic biasing of rotation about a pivot axis. The elastic biasing member may be a torsional biasing member configured to provide biasing torque about a pivot axis. The biasing torque may be configured to act against the reverse torque resulting from the static load of the platform. The torsional biasing member may be a torsion bar.

[0024]

[0024] The third Z direction may extend in a direction orthogonal to the first X direction and the second Y direction. The third direction may extend vertically upward from the X-Y plane. Each support arm is preferably inclined at an angle with respect to the third direction.

[0025]

[0025] The device may be configurable between a neutral configuration and a moving configuration. The neutral configuration may be the configuration in which the device is placed at rest. In the neutral configuration, the device may be configured such that the platform is positioned at the reference position with respect to each of the six degrees of freedom.

[0026]

[0026] In the neutral configuration, the magnitude of the inclination angle of the support arm, preferably each support arm (with respect to the third direction), may be 30 to 60 degrees, more preferably 40 to 50 degrees. The magnitude of the inclination angle may be about 45 degrees. Such a configuration has been found to be particularly beneficial because, especially in embodiments with a torsional biasing member, it may enable a relatively constant torque to support the payload over the operating range. For example, when the angle of the support arm decreases (i.e., approaches vertical) so as to reduce the torque about the axis of rotation generated by the payload, the torsional biasing member may be configured to provide a correspondingly reduced biasing force in the opposite direction. On the other hand, when the angle of the support arm increases (i.e., approaches horizontal) so as to increase the torque about the axis of rotation generated by the payload, the torsional biasing member may be configured to provide a correspondingly increased biasing force in the opposite direction.

[0027]

[0027] The motion generation device may include an actuation assembly for moving the platform. The actuation assembly may be configured to actuate each of the carriers in a first direction and a second direction. In some embodiments, the actuation assembly may include a first set of actuators for moving the carriers relative to a first track set and a second set of actuators for moving the first track set relative to a second track set. The actuation assembly may include one or more electric linear motors, such as coreless or hollow linear motors. Alternatively or additionally, a core or magnet-free track linear motor may be employed in the actuation assembly.

[0028]

[0028] The motion generation device may include a controller configured to control the actuation assembly. The controller is preferably configured such that the platform is operable in six degrees of freedom via control of the actuation assembly.

[0029]

[0029] The arm platform joints and the arm carrier joints may be freely rotatable. Rotation about each of these joints may result from the actuation force transmitted to the joints via the movement of the carriers. That is, preferably, there is no additional actuator for directly driving the or each arm platform joint and / or arm carrier joint. This facilitates reduction of the moving mass and improvement of the performance of the platform.

[0030]

[0030] The motion generation device may further include a passenger carrier fixed to the platform. The passenger carrier may include, for example, a seat for a single passenger or a plurality of longitudinally arranged, laterally arranged, or plural seats for a plurality of passengers.

[0031]

[0031] According to a second aspect of the present invention, a platform having a crew carrier; a base assembly having a track set in a first direction and a track set in an orthogonal second direction, wherein the track set in the first direction is movable in a direction along the track in the second direction; three carriages mounted on the track set in the first direction, wherein each carriage is movable in a direction along the first direction such that it is independently movable on the base assembly in a plane including the first and second directions; and a platform supporting the platform above the base assembly. A motion generating device is provided, comprising: three wishbone arms configured such that each wishbone arm is connected to each of the carriages at its converged lower end via a joint having three rotational degrees of freedom, and connected to the platform at its branched upper end via a slewing joint having a single degree of freedom about a pivot axis; and an actuation assembly for moving a track in a first direction along a track in a second direction, moving the carriage along the track in the first direction, thereby moving the occupant carrier in any or all of the six available degrees of freedom. The first direction may be the X direction. The second direction may be the Y direction.

[0032]

[0032] According to a further aspect of the present invention, a motion platform system for simulating vehicle motion is provided, comprising the motion generation device described above in relation to the first and / or second aspects of the present invention. The motion platform system may be configured to simulate the motion of land, air, space, or sea vehicles, including aircraft, spacecraft, hovercraft, ships, or land vehicles. In a preferred embodiment, the motion platform system may be configured to simulate land motor vehicles, such as single-seat performance motor cars or tracked or off-road vehicles. The motion platform system may include a screen for displaying images to the user of the motion generation device. For example, the screen may display an image of a race track on which a simulated racing car is running.

[0033]

[0033] Naturally, it will be understood that features described in relation to one aspect of the present invention may be incorporated into other aspects of the present invention.

[0034]

[0034] In order that the present invention may be fully understood, various embodiments of the present invention will now be described, merely as examples, with reference to the attached schematic diagrams. [Brief explanation of the drawing]

[0035] [Figure 1] This is a perspective view of a motion generation device according to the first embodiment of the present invention, showing the device in a neutral state. [Figure 2] This is a diagram of the device shown in Figure 1 with the crew carrier removed. [Figure 3] This figure shows the separated base assembly and carrier within the apparatus shown in Figure 1. [Figure 4a] Figure 1 is a perspective view of the separated platform and support arm of the apparatus. [Figure 4b] Figure 1 is a perspective view of the separated platform and support arm of the apparatus. [Figure 4c] Figures 4a and 4b are lower plan views of the platform and support arm. [Figure 5] This figure shows one of the support arms in the device shown in Figure 1. [Figure 6] This is a schematic diagram showing the movement of the torsional biasing member in one of the support arms of the device according to the first embodiment. [Figure 7] Figure 6 is a graph showing the payload offset across the range of motion of the arm. [Modes for carrying out the invention]

[0036]

[0035] Figure 1 is a perspective view from above of the motion generation device 1 according to a first embodiment of the present invention. The device 1 is shown in a stationary or neutral configuration.

[0037]

[0036] The motion generation device 1 comprises a platform 3 to which an occupant carrier 7 is mounted. In the first embodiment of the present invention, the occupant carrier 7 replicates the seating configuration in a single-seater racing car. However, the motion generation device 1 may also be used with other occupant carriers depending on the type of vehicle being simulated. In this regard, the platform 3 comprises a series of mounting points 4 to which other occupant carriers can be fixedly attached (see Figure 2). Since the motion of the platform 3 determines the motion of the associated occupant carrier mounted thereon, it is the motion of the platform 3 that will be described in detail for the purposes of the following description.

[0038]

[0037] The platform 3 is supported above the base assembly 5 by three support arms 9a to 9c (only one of the support arms 9c is visible in Figure 1). These parts of the apparatus are described below in more detail with reference to Figures 3 and 4a to 4c, respectively.

[0039]

[0038] Referring first to Figure 3, the base assembly 5 comprises a first track set 11. The track set is shown 11 overall and comprises three individual tracks 11a-11c. Each individual track 11a-11c extends in the X direction (i.e., aligned with the surge direction with respect to the platform 3), and each of the individual tracks 11a-11c is offset laterally from the other tracks 11a-11c.

[0040]

[0039] Carriers 13a to 13c are movably attached to each of the first track sets 11a to 11c. Carriers 13a to 13c are constrained to move back and forth only in the X direction along their respective tracks. This movement is carried out by linear electric motors 16 located beneath each carrier 13a to 13c and integrated with each track 11a to 11c.

[0041]

[0040] The base assembly 5 also comprises a second track set 15. The second track set is shown 15 overall and comprises two individual tracks 15a-15b. Each individual track 15a-15b extends in the Y direction (i.e., aligned with the sway direction with respect to the platform 3) and comprises two outer guide rails 19a / b and a central rail 21a / b. The two tracks 15a-15b are each associated with a base plate 23 and are offset longitudinally from each other. Each base plate is attached to the floor at appropriate anchor points.

[0042]

[0041] The first track set 11 is movably mounted on the second track set 15. More specifically, the front track 11a of the first set 11 is movably mounted on the front track 15a of the second set 15, and the rear tracks 11b-11c of the first set 11 are movably mounted on the rear track 15b of the second set 15. Each track 11a-11c of the first set 11 is constrained to move back and forth along each track 15a, 15b of the second set 15, only in the Y direction. This movement is performed by linear electric motors 17 located on the side of each track 11a-11c in the first track set 11. By moving the first track set 11 in this way, the carriers 13a-13c are movable back and forth in the Y direction.

[0043]

[0042] By operating the carriers 13a to 13c to move along the first track set 11 and operating the first track set 11 to move along the second track set 15, each carrier 13a to 13c may be able to move independently in the horizontal XY plane.

[0044]

[0043] Next, referring to Figures 4a to 4c, these images show different views of the platform 3 along with three support arms 9a to 9c configured to hold the platform 3 above the base assembly 5. See also Figure 5, which is a view of one of the separated support arms 9a. For clarity, not all elements are labeled for every component. For example, features common to all of the support arms may only be labeled for some of those arms.

[0045]

[0044] Each support arm 9a to 9c is equipped with a wishbone having a converged lower end 25, from which two bifurcated arms extend upward toward a branched upper end 27. A spindle 31 (described below) connects the two bifurcated arms at the upper part of the support arms 9a to 9c.

[0046]

[0045] The upper ends 27 of each support arm 9a-9c are connected to the underside of the platform 3 at the arm platform joint 29. The arm platform joint 29 is in the form of a swivel joint comprising two brackets 33 through which a spindle 31 is received. As is most clearly shown in Figure 5, the spindle 31 is part of the support arms 9a-9c and extends across the top of the support arms, thereby connecting both sides of the branched wishbone arm. The spindle 31 is received in a rotary bearing 35 held within the brackets 33. The brackets 33 are spaced apart on the underside of the platform and are fixed to the platform such that the swivel joint 29 is a rotary joint having only a single degree of rotational freedom about a pivot axis 37 (this pivot axis is also coaxial with the spindle 31 extending across the top of the support arms).

[0047]

[0046] The mounting and connecting assembly 51 is also provided beyond the end of the spindle 31. The mounting and connecting assembly 51 will be described in more detail below with reference to Figures 5 to 7 and the torsional biasing configuration.

[0048]

[0047] As is most clearly shown in Figure 4c, the pivot axes 37 of the swivel joints 29 associated with each support arm are oriented at a certain angle to each other. More specifically, the pivot axes 37 are spaced 120 degrees apart from each other.

[0049]

[0048] The lower ends 25 of each support arm 9a to 9c are connected to a carrier (not shown in Figures 4a to 4c) via arm carrier joints 39. The arm carrier joints 39 are spherical joints having a ball 41 that is received in a corresponding cup (not shown) fixed to the carrier. Each spherical joint 39 is fixed to prevent translational movement relative to the carriers 13a to 13c, but allows free rotational movement in all three rotational degrees of freedom. In other embodiments, the joint may be another type of joint that enables this movement, such as a gimbal.

[0050]

[0049] To limit the range of travel in several directions, the motion generating device 1 includes various stoppers and shock absorbers. In particular, each of the tracks 11a to 11c in the first track set 11 includes a hydraulic shock absorber assembly 43 for limiting the movement of the carrier in the X direction (see Figure 3), each of the tracks 15a to 15b in the second track set 15 includes a hydraulic shock absorber assembly 45 for limiting the movement of the first track set 11 in the Y direction (see Figure 3), and each support arm 9a to 9c includes a pair of hydraulic stoppers 47 connected to each support arm (see Figures 4a and 4b), the pair of hydraulic stoppers 47 configured to limit the degree of rotation of each arm about its respective pivot axis.

[0051]

[0050] The configuration in the first embodiment of the present invention allows the platform to move in all six degrees of freedom. This movement is performed by the operation of the carriers 13a-13c and the first track set 11 to which they are attached. Movement in the X direction (surge) is performed by the simultaneous operation of all carriers 13a-13c along the first track set, movement in the Y direction (sway) is performed by the simultaneous operation of the first track set 11 along the second track set, and movement in the Z direction (heave) is performed by moving the front carrier 13a and rear carriers 13b, 13c along the first track set 11 toward / away from each other, while moving the rear tracks 11b, 11c in the first track set laterally toward / away from each other in the Y direction along the second track set. Rotational movement can also be achieved as follows: Rotation around the X-axis (roll) is performed by simultaneously operating the first track set along the Y-direction track in the same direction while operating the carriers 13a-13c on both sides of the centerline along the first track set 11 in opposite directions; rotation around the Y-axis (pitch) is performed by simultaneously operating the rear tracks 11b and 11c of the first track set along the second track 15b toward and away from each other while operating the carriers 13a-13c along the first track set 11; and rotation around the Z-axis (yaw) is performed by simultaneously operating the rear tracks 11b and 11c of the first track set (along the second track 15b) in the opposite direction to the front track 11a of the first track set (along the second track 15a) while operating the carriers 13b-13c on both sides of the center of rotation in opposite directions along the first track set 11.

[0052]

[0051] More complex movements having any or all of these movement components are also possible by combining the movements described above. In this regard, the motion control device includes a controller (not shown) configured to control the linear motors 16, 17 (and thus the movement of the carriers 13a-13c and the first track sets 11a-11c) in a manner that can generate desired platform movements for a given scenario.

[0053]

[0052] The apparatus of the first embodiment of the present invention has been found to be particularly beneficial in that it enables relatively isotropic performance over its range of motion while allowing the platform to move in six degrees of freedom. In particular, this configuration can enable improved surge performance without necessarily adversely affecting performance in other degrees of motion and / or excessively reducing the level of controllability.

[0054]

[0053] The apparatus of the first embodiment also has a particularly useful configuration for enabling payload offset, as will be described below with reference to Figures 5 and 6.

[0055]

[0054] Referring first to Figure 5, each support arm includes a torsion bar 49 that extends through the center of the spindle 31 and is located coaxially with the pivot axis 37 (and coaxially with the spindle 31). The torsion bar is formed from maraging steel C300 and is designed to withstand defects (twists) up to 69.5 degrees. One end 49' of the torsion bar is received in spline connection with the spindle 31 so as to be fixed with respect to rotation with respect to its end on the spindle 31.

[0056]

[0055] The opposite end 49'' of the torsion bar 49 is held by spline connection to a mounting coupling assembly 51. The mounting coupling assembly 51 includes a coupling 53 that is coupled at one end to the underside of the platform 3 (see Figure 4b). The other end of the coupling 53 is fixedly attached to a cylindrical tube 57. The tube 57 is coaxial with the pivot axis 37 but is not mechanically coupled to the spindle 31 of the support arms 9a-9c. The tube 57 is held in the bracket and bearing assembly 55. The cylindrical tube 57 forms a spline connection to the end 49'' of the torsion bar 49. Once the tube 57 is fixed to the coupling 53, the end 49'' of the torsion bar is fixed with respect to rotation relative to the platform 3. Thus, as the support arms 9a-9c (and therefore the spindle 31) rotate relative to the platform 3 about the pivot axis 37, the torsion bar twists by the corresponding angle of rotation.

[0057]

[0056] Figure 5 shows the front support arm 9a, but corresponding configurations are provided for the other arms 9b to 9c. In those arms, the cylindrical tube 57 is somewhat longer. This is because, although it is desirable to maintain the same length of torsion bar for each arm 9a to 9c, the relatively narrow space requirements toward the rear of the platform 3 (see Figure 4c) prevent the torsion bar from extending far beyond the rearmost bracket 33.

[0058]

[0057] When the device is in a neutral position (for example, as shown in Figure 1), each of the support arms 9a-9c extends from the platform 3 such that each arm is inclined at an angle of approximately 45 degrees with respect to the vertical (Z) direction. As a result of the pivot axis 37 of each arm 9a-9c being offset from the respective arm carrier joint 39 below it, the payload of the device (i.e., the weight of the platform, occupant carrier, and the occupants in it) is subjected to a torque T around each arm platform joint 29. payload Generates.

[0059]

[0058] The torsion bars 49 within each spindle 31 are designed and sized to counteract this torque, and the biasing reverse torque Tbiasing Add this. This is shown in FIG. 6 where the torsion bar is schematically shown using the image of a torsion spring.

[0060]

[0059] This is beneficial because the motors 16, 17 for operating the carrier and the truck need not be sized to withstand all static forces arising from the payload, but can be sized to overcome mainly the dynamic load.

[0061]

[0060] The torsion bar in the first embodiment is designed to provide a relatively linear torque response over a range of rotational displacements. This is a relatively close match to the opposing torque arising from the payload acting on the support arm over a similar operating range. This behavior is the torque T generated by the payload over the range of displacement angles of the support arms 9a - 9c payload and the reverse torque T applied by the torsion bar biasing as shown in the graph of FIG. 7. (In this embodiment, it is about 38 - 58 degrees as indicated by the vertical lines in FIG. 7) Within the desired operating envelope of the support arms 9a - 9c, the torque response of the torsion bar T biasing closely matches the change in the torque T generated by the payload. For example, when the angle of the support arm decreases (i.e., approaches vertical), the torque arising from the payload T payload decreases, and the torsion biasing member is configured to provide a correspondingly reduced biasing torque T payload in the opposite direction. On the other hand, when the angle of the support arm increases (i.e., approaches horizontal) such that the torque generated by the payload T biasing increases, the torsion biasing member is configured to provide a correspondingly increased biasing torque T payload in the opposite direction. biasing and the reverse torque T applied by the torsion bar

[0062]

[0061] It can also be understood from FIG. 7 that when the support arm is vertical, the torsion bar is substantially not twisted (i.e., the torsional biasing is reduced to 0). The torsion bar torque T biasingThe adjustment may also be performed by the adjustment screw 61 on the underside of the platform (see Figures 4a and 4b), which controls the position of the connecting portion 53, and therefore the torsion bar torque T. biasing This allows for small adjustments to the baseline level.

[0063]

[0062] The biasing configuration in the first embodiment of the present invention has been found to be particularly beneficial because it requires relatively low acting force from the acting assembly to support the payload over a wide range of motion.

[0064]

[0063] Although the present invention has been described and illustrated with reference to specific embodiments, those skilled in the art will understand that the present invention is suitable for many different variations not specifically shown herein. Where, in the foregoing description, integers or elements having known, obvious or predictable equivalents are referred to, such equivalents are incorporated herein as if they were separately described. To determine the true scope of the present invention, the claims should be referred to, which should be interpreted to encompass any such equivalents. Furthermore, readers will understand that integers or features of the present invention described as preferred, suitable, convenient, etc., are optional and do not limit the scope of the independent claims. Moreover, it should be understood that such optional integers or features may be of possible advantages in some embodiments of the present invention but may be undesirable and therefore absent in other embodiments. [Explanation of Symbols]

[0065] 1…Motion generating device, 3…Platform, 4…Mounting point, 5…Base assembly, 7…Crew carrier, 9a…Support arm, front support arm, 9b…Support arm, 9c…Support arm, 11…First track set, first set, 11a…Track, first track set, front track, 11b…Track, first track set, rear track, 11c…Track, first track set, rear track, 13a…Carrier, front carrier, 13b…Carrier, rear carrier, 13c…Carrier, rear carrier, 15…Second track set, second set, 15a…Track, front track, 15b…Track, rear track, 16…Linear electric motor, linear motor, motor, 17…Linear electric motor, ri Near motor, motor, 19a…outer guide rail, 19b…outer guide rail, 21a…center rail, 21b…center rail, 23…base plate, 25…converged lower end, lower end, 27…branched upper end, upper end, 29…arm platform joint, swivel joint, 31…spindle, 33…bracket, 35…rotating bearing, 37…rotation axis, 39…arm carrier joint, ball joint, 41…ball, 43…hydraulic shock absorber assembly, 45…hydraulic shock absorber assembly, 47…hydraulic stop unit, 49…torsion bar, 49'…one end of torsion bar, 49''…opposite end of torsion bar, end of torsion bar, 51…mounting connection assembly, 53…connection unit, 55…bearing assembly, 57…cylindrical tube, tube, 61…adjustment screw

Claims

1. A platform to support the crew, Base assembly and, Three support arms configured to support the platform above the base assembly, A motion generation device comprising, Each support arm is connected to the carrier at its lower end via an arm carrier joint, and to the platform at its upper end via an arm platform joint. Each carrier is movably mounted on the base assembly such that the carrier is independently movable in a first (X) direction and a second (Y) direction, and the first and second directions are orthogonal to each other. A motion generation device in which, for each support arm, one of the arm carrier joint or the arm platform joint is a swivel joint having a single rotational degree of freedom about the rotation axis, and the other of the arm carrier joint or the arm platform joint is a rotary joint having three rotational degrees of freedom.

2. The base assembly comprises a first track set for enabling movement of the carrier in the first direction and a second track set for enabling movement of the carrier in the second direction. The motion generation device according to claim 1.

3. For each support arm, the arm platform joint is a swivel joint having a single degree of rotational freedom, and the arm carrier joint is a rotary joint having three degrees of rotational freedom. The motion generation device according to claim 1 or 2.

4. Each support arm is equipped with a wishbone, and the wishbone is configured such that the arm carrier joint is located at the convergence end of the wishbone and the arm platform joint is located at the branching end of the wishbone. The motion generation device according to claim 3.

5. Each support arm is elastically biased against rotation about the pivot axis. The motion generation device according to any one of claims 1 to 4.

6. Each arm is provided with an elastic biasing member for providing the elastic biasing of rotation about the pivot axis, and the elastic biasing member is a torsional biasing member configured to provide a biasing torque about the pivot axis. The motion generation device according to claim 5.

7. The biasing torque, centered on the rotation axis, is configured to act against the reverse torque arising from the static load of the platform. The motion generation device according to claim 6.

8. The aforementioned torsional biasing member is a torsion bar. The motion generation device according to claim 6 or 7.

9. The first and second directions are included in the X-Y plane, the third Z direction extends upward from the X-Y plane, and each support arm is inclined at a certain angle with respect to the third direction. The motion generation device according to any one of claims 1 to 8.

10. The device can be configured between a neutral configuration and a movable configuration, and in the neutral configuration, the magnitude of the inclination angle of each support arm is substantially the same. The motion generation device according to claim 9.

11. The magnitude of the aforementioned inclination angle is approximately 45 degrees. The motion generation device according to claim 10.

12. Each of the carriers is provided with an operating assembly for moving it in the X direction and the Y direction. The motion generation device according to any one of claims 1 to 11.

13. The platform includes a controller for controlling the actuation assembly so that it can be operated with six degrees of freedom. The motion generation device according to claim 12.

14. The platform further comprises a crew carrier fixed to the platform, wherein the crew carrier includes, for example, seats for a single crew member, or seats arranged lengthwise, sideways, or in any order for multiple crew members. The motion generation device according to any one of claims 1 to 13.

15. A platform equipped with a crew carrier, A base assembly having a track set in a first direction and a track set in an orthogonal second direction, wherein the track set in the first direction is movable in a direction along the track in the second direction, Three carriages mounted on the track set in the first direction, each carriage being movable in a direction along the first direction such that it is independently movable on the base assembly in a plane including the first and second directions, Three wishbone arms configured to support the platform above the base assembly, each wishbone arm being connected to each of the carriages at its converged lower end via a joint having three rotational degrees of freedom, and connected to the platform at its branched upper end via a swivel joint having a single degree of freedom about a pivot axis, An actuation assembly for moving the track in the first direction along the track in the second direction, moving the carriage along the track in the first direction, and thereby moving the occupant carrier in any or all of the six available degrees of freedom, A motion generation device equipped with the following features.

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