Motion generating device

Abstract

The motion generator 1000;2000 for the motion platform system has a plurality of motion control units 1201, 1202, 1203, each including control members 1211, 1212, 1213 and couplings 1241, 1242, 1243 configured to engage with the respective inclined portions 1251, 1252, 1253 of the control members. By driving each control member laterally, each coupling is pushed in the direction along the inclined paths P1, P2, P3, thereby applying a vertical force to the portions 1801, 1802, 1803 of the motion platform 1800. The motion and positioning of the platform 1800 are determined by the combined movement and / or positioning of the control members 1211, 1212, 1213.

Description

Background Art

[0004]

[0001] [Background of the Invention]

[0002]

[0001] The present invention relates to a motion generation device for a motion platform system. The present invention can be particularly applied to a motion platform system that simulates the motion of vehicles such as land vehicles, aircraft, spacecraft, hovercraft, and watercraft. Some embodiments of the present invention are particularly suitable for simulations that require high frequency responsiveness and high control force, such as motor sports simulation. [Background Art]

[0003]

[0002] Motion platform systems that provide movement in multiple degrees of freedom are known, whereby passengers can obtain a realistic feeling as if they are boarding or operating a vehicle on land, at sea, in the air, or in space. Such systems generally aim to generate the movement of a passenger carrier that closely matches the movement of a vehicle or vehicle type. Such simulated movement stimulates the passenger's somatosensory system and vestibular system and contributes to the improvement of the operating ability and control ability of the actual vehicle to be simulated.

[0004]

[0003] For example, a motion platform system including a passenger carrier mounted on a platform can provide a six-degree-of-freedom motion platform system that can give a passenger an accurate feeling of riding in a racing car. For example, translational motions in the surge, sway, and heave directions (i.e., the x, y, and z-axis directions) of the platform and roll, pitch, and yaw (i.e., rotational motions around each axis) are provided.

[0005]

[0004] Some known motion platform systems utilize parallel manipulators. For example, the Stewart platform hexapod connects the platform to the base unit by six telescopic struts or actuators. Due to the large range of extension and retraction provided by the struts, the entire device is very tall. Typically, a large amount of space is required beneath the platform. In this type of platform, the struts must be relatively strong and heavy to support the static mass of the payload and to achieve high frequency response and good controllability, making it difficult to provide high frequency response to all translational and rotational motions. While it may be useful for simulating the motion of some aircraft that do not require simulating high amplitude and high frequency horizontal forces and accelerations, such equipment is not cost-effective or practical for simulating motions that require large horizontal (braking, acceleration, cornering) and vertical / rotational (ride-in) forces, such as those that occur in motor racing.

[0006]

[0005] The "Williams" motion platform system disclosed in WO2014 / 087172 is intended to alleviate some of the limitations of the Stewart platform. In Williams, the height of the crew carrier platform is adjusted by independently controlling the height of each crew carrier support rail, each driven by a first group of motors along the inclined surface of a second wedge. The crew carrier support rails support the platform so that it can slide relative to the surge direction. Second supports are located on either side of the crew carrier support rails and are driven by second motors along a transversely extending base track. Yaw and surge motion is provided by the second motors driving the second supports transversely along the base track, causing the converging crew carrier support rails to move laterally together or apart. Due to the converging angle of the crew carrier platform and support rails in the Williams platform system, in some applications, sufficient grounding (i.e., the ability to control the motion platform in a timely and precise manner) and sufficient stroke range in the surge axis direction may not be available. In platform system design, it is possible to increase the control force by increasing the "V" angle of the crew support rail, but this has the negative effect of reducing the overall surge stroke range.

[0007]

[0006] Generally, if the surge stroke range is insufficient, during a sustained brake cue, the platform system may run out of stroke before completing the cue, causing the rider to experience a false sensation such as brake fade. In existing designs, it may not be practical to extend the surge motion range because the overhang portion of the platform hits the floor. Furthermore, when a known motion platform is at the extreme end of a surge, the center of gravity of the moving mass is often in a significantly different location than when it is in the neutral position. Since gas struts are usually tuned to primarily support the load when the platform is near the neutral position, at extreme positions the platform becomes inherently unbalanced, and support by the gas struts becomes suboptimal. Control at such extreme positions is difficult, and peak current may be required from the drive motor, potentially leading to system instability. Conventional motion platform systems require a large footprint, particularly in the sway direction (y-axis direction). Footprint is a critical factor when expanding platform systems in limited spaces.

[0008]

[0007] Other examples of the prior art include multi-stage systems, for example, where one stage provides yaw, surge, and sway, and another stage provides heave, pitch, and roll. Multi-stage systems negatively affect the stiffness and high-frequency response of the motion platform system. Those skilled in the art understand that the frequency response of a motion platform system (e.g., the ability to move at high speeds to simulate impact motion when passing over bumps in the road surface) depends on the mechanical stiffness, moving mass, and actuators that provide the motion. Such multi-stage platform systems are generally heavy, and excessive weight or insufficient stiffness has a particularly significant negative impact on high-frequency response.

[0009]

[0008] GB2378687 discloses a motion simulator using a rocker arm system. It has been found that it is difficult to achieve high heave and surge with a relatively small motor in a rocker arm system. The rocker needs to be made larger to obtain the desired range of motion, but increasing the size of the rocker leads to a decrease in system rigidity. Due to insufficient rigidity, it becomes difficult to achieve good displacement, velocity, and frequency response bandwidth. A larger motor is required, which increases costs.

[0010]

[0009] WO2021 / 019213 discloses a motion platform having a crew carrier section in which a first guide section, a second guide section, and a third guide section are pivotally attached to a first control pillar, a second control pillar, and a third control pillar, respectively, via coupling members, and each control pillar is constrained to move independently in a plane. The guide sections of the crew carrier section are angled with respect to the plane and to each other, restricting the movement of the coupling members to movement along the guide sections.

[0011]

[0010] The present invention aims to alleviate or overcome at least one problem of the prior art, or to provide a useful motion generating device. [Overview of the project]

[0012]

[0011] According to a first aspect of the present invention, a motion generating device for a motion platform system is provided, the device comprising: a platform supporting a crew carrier; a plurality of motion control devices (each comprising i) a corresponding control member and ii) a rotatable coupling coupled between the platform and the control member) that provide independent motion control to each part of the platform; and a plurality of actuators, each configured to independently drive each of the control members in a plurality of lateral directions, wherein at least one control member has an inclined portion and each of the couplings is configured to engage with the inclined portion, and by driving the control member or each of the control members laterally, the coupling or each of the couplings is pressed in a direction along the inclined path under the control of the control member, thereby providing a vertical component of driving force to the corresponding part of the platform, the motion and positioning of the plurality of translational and rotational degrees of freedom of the platform are determined by the combined movement and / or positioning of the control members.

[0013]

[0012] In this way, by using a control member having an inclined portion to independently drive in multiple directions laterally and to independently transmit the driving force to a part of the platform, it is possible to provide a robust motion generating device that has a compact motion envelope in the vertical and / or lateral directions and is suitable for use in high-performance environments.

[0014]

[0013] Maintaining a fixed motion ratio is facilitated over the stroke range of the control member, which is a substantially consistent ratio between the stroke of the control member and the resulting vertical stroke due to the coupling. This suppresses the occurrence of peak loads at extreme positions of the motion platform, enabling the effective use of lower-cost and lighter linear actuators in the actuators, such as coreless or air-core linear motors, and facilitating motion control without the need for auxiliary devices such as gas struts to handle peak loads. The ability to use coreless linear motors in motion generators also offers advantages such as cogging-free operation, low noise, high speed, high positioning accuracy, and excellent repeatability compared to ball screw actuators common in hexapods, for example. In this way, it becomes easier to provide motion platform systems with high control force and high-frequency response, which are required in high-performance simulation applications such as motorsports. Accordingly, various embodiments of the present invention facilitate the provision of high-performance and / or low-cost motion generators.

[0015]

[0014] Furthermore, since the platform moves while constrained by multiple degrees of freedom determined by the control member, no additional motors are required to individually drive the couplings relative to the inclined portion of the control member.

[0016]

[0015] Furthermore, it becomes easier to provide a low-cost and lightweight motion generator without excessive constraints. Because the degrees of freedom of movement are not separated from each other, it becomes possible to generate motion with higher rigidity and better responsiveness. The robust and lightweight design allows the motion generator to be installed quickly and easily on a support surface, eliminating the need for time-consuming high-precision leveling work, and making it possible to provide a motion generator that is easy to transport and install.

[0017]

[0016] In this specification, “lateral” or “horizontal” as used with respect to motion generators and their components means a direction or plane that is generally parallel to the ground or other support surface on which the motion generator or control member is mounted, and “lateral” or “horizontal” is understood in this sense. Such a support surface may be stationary with respect to the supporting ground, or it may be rotatable, for example. “Perpendicular” or “vertical” means a direction or plane that is perpendicular to such a lateral or horizontal direction.

[0018]

[0017] Multiple control members, for example, three control members, each have an inclined portion and are configured to engage with the corresponding coupling, and by driving each of the control members laterally, each coupling moves in a direction along an inclined path along the inclined portion under the control of the control member, thereby providing a vertical component of driving force to the corresponding portion of the platform. In this way, by using multiple control members having inclined portions and driving each independently laterally in multiple directions, and by independently transmitting driving force to each portion of the platform, it becomes even easier to provide a robust motion generator that has a compact motion envelope in the vertical and / or lateral directions and is suitable for use in high-performance environments.

[0019]

[0018] The inclined paths may extend generally toward the internal area of ​​the platform when the motion generator is stationary or neutral. That is, these paths generally converge toward a certain area, but the axes do not necessarily have to extend toward a common intersection. The inclined paths do not necessarily have to be on the same plane. In some embodiments, the inclined paths may converge toward an approximate intersection of path axes in the lateral and vertical directions, for example, the couplings may be connected to the intersections of each side of a roughly equilateral triangular platform, and the inclined paths may have similar vertical inclination angles.

[0020]

[0019] The motion generator comprises two rear motion control units, and the angle between the directions of the inclination paths of these rear motion control units may be approximately 20° to 160°, or approximately 90° to 140°, or approximately 120° or 100°. At least some of these angle values ​​have been shown to be a good compromise for obtaining good control force for both surge and sway, for example in motorsport simulation environments, but it will be understood by those skilled in the art that the optimal angle value will vary depending on the application, and in principle, angle values ​​in the range of 1° to 179° are also useful.

[0021]

[0020] The vertical angle between the direction of the inclined path and the plane extending laterally is in the range of about 10° to 45°, and may be about 16°. The vertical angle of each of the inclined paths may be the same as that of the other inclined paths, or at least one inclined path may be inclined at a different vertical angle from the other inclined paths. At least some of the vertical angle values ​​described above have been shown to be effective, for example, in a motorsport simulation environment, but it will be understood by those skilled in the art that the optimal vertical angle value will vary depending on the application. When the angle is about 16°, if the coupling moves laterally by about 3.5 units relative to the control member, a vertical movement of about 1 unit occurs between them, i.e., the motion ratio is about 3.5. A high motion ratio such as 3.5:1 makes it easier to use a smaller, lighter, and lower-cost motor compared to a similar setup with a vertical angle of about 26.5° and a motion ratio of 2:1. A high motion ratio such as 3.5:1 is suitable for simulations that do not require large vertical displacements, such as motorsport simulations. Generally, a high motion ratio reduces the effort required to displace a load vertically, allowing for the use of smaller and lighter motors while meeting the requirements for motion envelope (displacement), velocity, and acceleration. This enables cost and size reductions while maintaining the consistent performance required for high-frequency response simulations.

[0022]

[0021] Couplings configured to engage with each inclined section may be engaged so as to be able to move freely along their respective inclined paths, and the motion of each coupling is controlled by a corresponding control member. The motion of each coupling along the inclined path may be controlled only by the corresponding control member, except for forces transmitted to the coupling through the platform as determined by other control members. In other words, there are no additional actuators or motors to directly drive each coupling along the inclined path, which facilitates a reduction in moving mass and an improvement in platform performance.

[0023]

[0022] Each coupling may include a carriage connected to the platform via a rotatable connector joint arranged between the relevant portion of the platform and each carriage.

[0024]

[0023] One or each rotatable coupling may be fixed against translational movement of one or each coupling relative to the platform, while allowing rotational movement between the platform and one or each respective control member. That is, each coupling is mounted to the platform in such a way that such relative translational movement is suppressed or prevented in the mounting position.

[0025]

[0024] One or each of the rotational couplings may enable three degrees of freedom of rotational movement relative to one or each of the corresponding parts of the platform. The couplings may include any suitable form of rotational connection joint, such as a ball joint, gimbal, or universal joint.

[0026]

[0025] The motion generating device may be equipped with three or more motion control devices, each of which may be associated with a corresponding operating device.

[0027]

[0026] The movement and positioning of the platform's three translational and three rotational degrees of freedom may be controlled by a combination of the movement and / or positioning of all the control members.

[0028]

[0027] One or each motion control facility may include a guide for restricting the movement of the corresponding coupling to translational movement along each inclined path.

[0029]

[0028] Each control member may include a guide extending along each inclined portion, such as one or more rails.

[0030]

[0029] Each coupling may include an engaging portion that engages with the guide of the corresponding control member, such as a carriage including one or more rotating wheels, and may be configured such that each coupling is guided along each inclined path with minimal friction. The guide may include one or more rails for receiving the wheels of the engaging portion.

[0031]

[0030] Those skilled in the art will understand that other guides and / or engaging mechanisms (such as low-friction bearings and sliding surfaces) for guiding and engaging the movement of the coupling with respect to the control member while facilitating low-friction sliding movement between the coupling and the control member are available. The guide may be provided on either the control member side or the coupling side, and the engaging portion may be provided on the other side.

[0032]

[0031] The actuating facility may include a linear actuating device having respective drive shafts arranged at an angle aligned with the angle of each inclined path in the lateral direction.

[0033]

[0032] Alternatively, the actuation equipment may include linear actuation devices having drive axes positioned at an angle offset laterally by at least 30° or other larger angle from each inclined path. In such a motion generation device design, the inclined paths can be oriented at any angle with respect to each mutually orthogonal drive axis of the actuation equipment, and the control members can move in any lateral direction, including along each drive axis. Such equipment allows the vertical forces generated from static mass to be shared among the linear actuation devices, enabling miniaturization and cost reduction of the linear actuation devices.

[0034]

[0033] At least one actuator may comprise a stack of linear actuators, with each actuator independently connected to a corresponding control member for independent force transmission. Stacking allows for reduced moving mass, especially in the case of large motion envelopes.

[0035]

[0034] At least one actuation device may include an electric linear motor, for example, a coreless or air-core linear motor. Alternatively or additionally, a core-type or magnet-free-track linear motor may be used as the actuation device.

[0036]

[0035] Not limited to the above embodiments, at least one control member may be driven laterally by any type of actuator suitable for lateral driving. For example, multiple linear actuators may be stacked or arranged laterally in an XY table configuration, each driving the control member along an orthogonal linear axis. Electric linear motors have advantages in many motion platform system applications, but other actuators may be used, such as hydraulic or gas piston actuators, or rotary electric motors that generate linear driving force using appropriate gears or mechanisms.

[0037]

[0036] Each actuator may be supported by an independent base support, and the base supports may be able to be fixed and oriented independently of each other. This allows the base supports and motion generators to be quickly mounted on a support surface or location, eliminating the need for time-consuming high-precision leveling work, and providing a motion platform system that is easy to transport and install. The support surface may be flat, stationary or movable, and may be, for example, a rotary table to provide unlimited yaw. In some embodiments, the base supports may be mounted on support surfaces that are of different heights or not parallel to the ground. In other embodiments, the base supports may be directly connected to each other and cannot be fixed independently, or the actuators may be supported by an integrated base support or included in an integrated XY table apparatus.

[0038]

[0037] All operating equipment may include an upper linear actuation device or a lower linear actuation device, each having a drive shaft arranged substantially parallel to the front-rear axis of the motion generating device.

[0039]

[0038] The motion generator comprises two rear actuators, each having a rear upper linear actuator stacked on a predetermined portion of a common rear lower linear actuator, the rear lower linear actuator being arranged to independently drive each upper linear actuator along a common guide extending in a direction substantially perpendicular to the longitudinal axis of the motion generator, thereby enabling an expanded sway range.

[0040]

[0039] The motion generating device comprises two rear actuators and one front actuator, the front actuator providing a larger stroke range than each rear actuator in a direction substantially perpendicular to the longitudinal axis of the motion generating platform, thereby enabling an expanded sway range.

[0041]

[0040] The platform may be equipped with a rigid frame.

[0042]

[0041] The motion generating device may include a crew carrier that is movably fixed to the platform, and the crew carrier may include, for example, single-seat, tandem, side-by-side, or multi-seat configurations.

[0043]

[0042] According to another aspect of the present invention, a motion platform system for simulating vehicle motion is provided, comprising a motion generating device described in relation to the first aspect.

[0044]

[0043] The motion platform system may be configured to simulate the motion of vehicles on land, in the air, in space, and at sea, such as aircraft, spacecraft, hovercraft, watercraft, and land vehicles (e.g., single-seat high-performance automobiles, crawler vehicles, and off-road vehicles).

[0045]

[0044] According to yet another aspect of the present invention, a simulator for simulating vehicle motion is provided, the simulator comprising: a movable frame supporting a passenger seat and a control device; three inwardly directed control wedges each having a wedge surface inclined inward and upward; three couplings (each coupling i) fixedly connected to a predetermined position on the frame by a three-degree-of-freedom rotary joint; and ii) engaging with the corresponding inclined surface to enable guided relative translational movement along that surface); and linear motors for independently driving each wedge in any desired lateral or horizontal direction, wherein the motion of the three rotational degrees of freedom and three translational degrees of freedom of the frame is controlled solely by the linear motors via control members.

[0046]

[0045] The drive shafts of the linear motors extend in the longitudinal and lateral directions of the simulator, respectively, and each direction may be positioned at a non-zero angle (when viewed in the lateral plane) with respect to the direction of movement in which each coupling is guided along the inwardly inclined surface. Alternatively, the drive shafts of the linear motors may be aligned with the direction of movement in which each coupling is guided along the inwardly inclined surface.

[0047]

[0046] Of course, it will be understood that features described in relation to one aspect of the present invention can be incorporated into other aspects. [Brief explanation of the drawing]

[0048]

[0047] Hereinafter, various embodiments of the present invention will be described only as examples, with reference to the attached schematic diagrams, so that the present invention can be fully understood. [Figure 1] Figure 1 is a perspective view of the motion generation device in a neutral state. [Figure 1a] Figure 1a is a plan view of the device. [Figure 2] Figure 2 shows the motion generator in the maximum heave state. [Figure 2a] Figure 2a is a plan view of the parts of the device in the state shown in Figure 2. [Figure 3] Figure 3 shows the motion generator in the minimum heave state. [Figure 3a] Figure 3a is a plan view of the parts of the device in the state shown in Figure 3. [Figure 4] Figure 4 shows the motion generator in a pitch-down state. [Figure 4a] Figure 4a is a plan view of the part of the device in the state shown in Figure 4. [Figure 5] Figure 5 shows the motion generator in a pitch-up state. [Figure 5a] Figure 5a is a plan view of the parts of the device in the state shown in Figure 5. [Figure 6] Figure 6 shows the motion generating device rotated to the right. [Figure 6a] Figure 6a is a plan view of the part of the device in the state shown in Figure 6. [Figure 7] Figure 7 shows the motion generating device rotated to the left. [Figure 7a] Figure 7a is a plan view of the part of the device in the state shown in Figure 7. [Figure 8] Figure 8 shows a motion generating device that is swaying from side to side to the right. [Figure 8a]Figure 8a is a plan view of the parts of the device in the state shown in Figure 8. [Figure 9] Figure 9 shows a motion generating device that is swaying from side to side to the left. [Figure 9a] Figure 9a is a plan view of the part of the device in the state shown in Figure 9. [Figure 10] Figure 10 shows a motion generating device swung to the right. [Figure 10a] Figure 10a is a plan view of the part of the device in the state shown in Figure 10. [Figure 11] Figure 11 shows a motion generating device that is swaying forward. [Figure 11a] Figure 11a is a plan view of the part of the device in the state shown in Figure 11. [Figure 12] Figure 12 shows an alternative motion generator for the neutral state. [Figure 13] Figure 13 shows a motion generation device for motorsports. [Figure 14] Figure 14 shows a motion generation device in an automobile configuration.

[0049] Detailed explanation

[0050]

[0048] Figure 1 is a perspective view from the front right downwards of the motion generating device 1000 according to a first embodiment of the present invention in a stationary, i.e., neutral position or state. The motion generating device 1000 comprises a motion platform 1800 and a plurality of motion control units 1201, 1202, 1203, each configured to independently provide motion control to each of the portions 1801, 1802, 1803 of the platform 1800. Each motion control unit 1201, 1202, 1203 comprises its respective control member 1211, 1212, 1213 and its respective rotatable coupling 1241, 1242, 1243 coupled between the platform 1800 and its respective control member 1211, 1212, 1213. The motion generator 1000 further comprises a plurality of actuators 1001, 1002, and 1003, each independently configured to drive one of the control members 1211, 1212, and 1213 laterally in multiple lateral directions. These are the directions of the mutually orthogonal lateral X and Y axes of the motion generator 1000, and, when the X drive and Y drive are combined, all other motions and directions in between, in or parallel to the plane containing the X and Y axes. In the embodiment of Figure 1, the X axis extends along the longitudinal central axis of the motion generator 1000, i.e., the front-to-back axis, and the Y axis extends along the lateral axis, i.e., the left-to-right axis. Figure 1 also shows the Z axis, which extends approximately perpendicular to the lateral plane containing the X and Y axes.

[0051]

[0049] The motion platform 1800 comprises a substantially rigid, substantially triangular frame. The three sides of the platform 1800 are formed by beams 1806, 1807, and 1808. The portions 1801, 1802, and 1803 of the platform 1800, located in the respective top regions of the platform 1800, include respective connectors that connect the portions 1801, 1802, and 1803 to one of the respective couplings 1241, 1242, and 1243 in order to fixate the connection portions of the respective couplings 1241, 1242, and 1243 with respect to translational motion relative to the platform 1800. In the stationary position shown in Figure 1, the longitudinal central axis or surge axis xc of the platform 1800 extends parallel to the front-rear axis X of the motion generator 1000, and the front top 1801 is aligned with the X axis and oriented forward. The sway axis yc of platform 1800 is perpendicular to the surge axis xc. In the stationary position shown in Figure 1, the sway axis yc and surge axis xc of platform 1800 extend parallel to the X and Y axes of motion generator 1000, and as a result, the vertical movement axis zc of platform 1800, which extends perpendicular to the sway axis yc and surge axis xc, is parallel to the Z axis of motion generator 1000.

[0052]

[0050] As shown in Figure 1, each control member 1211, 1212, and 1213 has a base portion that extends laterally and faces downward, and one or more surfaces that face upward and inward, such that each control member generally forms a wedge shape and the wedge faces inward into the device 1000.

[0053]

[0051] The upward and inward faces of the control members or wedges 1211, 1212, 1213 provide the respective inclined portions 1251, 1252, 1253. Each inclined portion 1251, 1252, 1253 includes the respective guides in the form of the respective guide rails 1221, 1222, 1223, 1224, 1225, 1226. Each guide extends along its respective inclined portion 1251, 1252, 1253 and is configured to restrain the movement of the respective couplings 1241, 1242, 1243 to translation along the respective inclined paths P1, P2, P3. The inclined sections 1251, 1252, 1253 and their respective inclined paths P1, P2, P3 extend upward and outward at angles θ1, θ2, θ3 (see also Figure 14), measured laterally or perpendicularly from the XY plane, and converge generally inward toward the lateral central area of ​​the device 1000. In the embodiment of Figure 1, each of the vertical angles θ1, θ2, and θ3 has an equal value of approximately 16°. In alternative embodiments, different values ​​of θ1, θ2, and θ3 may be used, selected, for example, in the range of approximately 10° to approximately 45°, depending on the intended use of the motion generator 1000, and the values ​​of θ1, θ2, and θ3 do not all have to be the same.

[0054]

[0052] As best shown in Figure 1a, a plan view showing the positions of paths P1, P2, and P3 relative to the top portions 1801, 1802, and 1803 of the platform 1800 in the neutral state of the motion generator 1000, the inclined paths P2 and P3 of the left and right rear motion control equipment 1202 and 1203 extend in a direction having an angle φ between them. In this embodiment, φ is 120°, and the rear inclined paths P2 and P3 are 60° to the left and right respectively with respect to the longitudinal centerline of the motion generator 1000. A value of φ of about 90° or about 100° has been shown to provide a good level of grounding for both surge and sway in a motorsport simulation environment.

[0055]

[0053] Each coupling 1241, 1242, 1243 includes a rigid body supporting the respective rotatable joints 1261, 1262, 1263, and each engaging portion 1231, 1232, 1233 that enables the couplings 1241, 1242, 1243 to slidably engage with the respective guides of the respective inclined portions 1251, 1252, 1253. In the embodiment shown in Figure 1, each engaging portion 1231, 1232, 1233 comprises a pair of carriages that engage with the respective pairs of guide rails 1221, 1222, 1223, 1224, 1225, 1226. Each carriage takes the form of an upward-facing, substantially U-shaped member with a wheel on its underside that engages with the respective guide rails 1221, 1222, 1223, 1224, 1225, 1226, so as to restrict lateral movement of the rails while enabling a low-friction stroke of the carriage along the rails. Another method for providing low-friction translational movement between couplings 1241, 1242, 1243 and their respective inclined portions 1251, 1252, 1253 will be obvious to those skilled in the art. For example, any suitable type of bearing and / or low-friction sliding surface can be used to guide the engaging portions 1231, 1232, 1233 and / or the inclined portions 1251, 1252, 1253.

[0056]

[0054] The lower portions of each rotatable joint 1261, 1262, 1263 are connected to the upper body portions of each coupling 1241, 1242, 1243. Each rotatable joint is fixedly connected to the respective top portions of the platforms 1801, 1802, 1803 and comprises a rod or other rigid part of the joint that substantially prevents relative translational movement between the couplings 1241, 1242, 1243 and the platform 1800. Each rotatable joint 1261, 1262, 1263 comprises a ball joint which provides each portion 1801, 1802, 1803 of the platform 1800 with respect to each coupling 1241, 1242, 1243 and therefore to each control member 1211, 1212, 1213, allowing rotational movement of the platform 1800 within a specific range within a desired motion envelope. In alternative embodiments, other forms of rotatable connector joints, such as gimbal joints or universal joints, can be used. Thus, each rotatable coupling 1241, 1242, 1243 is fixed to the translational movement of each coupling relative to the platform 1800, and rotational movement between the platform 1800 and each control member 1211, 1212, 1213 is permitted.

[0057]

[0055] Each control member 1211, 1212, and 1213 is supported by its respective upper support or table 1146, 1147, and 1148 for movement in the lateral plane. An upper guide is carried on the upper surface of each table 1146, 1147, and 1148. Each guide is oriented inward of the motion generator 1000, extends in the lateral plane, and is positioned so that the longitudinal axis of each guide aligns with the angles of the respective inclined paths P1, P2, and P3. Each guide comprises its respective pair of parallel guide rails 1121, 1122, 1123, 1124, 1125, and 1126. The base portion of each control member 1211, 1212, and 1213 is provided with its respective engaging portion 1131, 1132, and 1133. Each engaging portion 1131, 1132, 1133 comprises a set of four carriages, each set of carriages engaging with a pair of guide rails 1121, 1122, 1123, 1124, 1125, and 1126. Each carriage takes the form of an upward-facing, substantially U-shaped member, which engages with one of each of the guide rails 1121, 1122, 1123, 1124, 1125, and 1126 to restrict lateral movement relative to the rails, while having one or more wheels on its underside to allow a low-friction stroke of the carriage along the rails. It will be apparent to those skilled in the art that, instead of wheeled carriages, many alternative methods for providing low-friction translational engagement are available, such as any suitable type of bearing and / or low-friction surface.

[0058]

[0056] Each actuation device 1001, 1002, and 1003 is independently connected to its respective control members 1211, 1212, and 1213 for independent force transmission and comprises its respective upper linear actuation device 1141, 1142, and 1143 and its respective lower linear actuation device 1041, 1042, and 1043. Each upper linear actuation device 1141, 1142, and 1143 is supported by one of the respective tables 1146, 1147, and 1148 and connected to its respective control members 1211, 1212, and 1213 by its respective force section (not shown). The lateral drive axes M1, M2, and M3 of the upper linear actuation devices 1141, 1142, and 1143 (see also Figure 14) are directed inward from the motion generator 1000 to supply lateral drive to their respective control members 1211, 1212, and 1213. The lateral drive axes M1, M2, and M3 are aligned in the direction of the guide rails 1121, 1122, 1123, 1124, 1125, and 1126 and their respective inclined paths P1, P2, and P3. The upper linear actuation devices 1141, 1142, and 1143 of this embodiment take the form of electric linear motors, in particular ironless or air-core electric linear motors.

[0059]

[0057] Each of the tables 1146, 1147, and 1148 is movably supported on or stacked on their respective base supports 1011, 1012, and 1013 to move in a direction substantially perpendicular to the drive axes M1, M2, and M3 of their respective upper linear actuation devices 1141, 1142, and 1143. Each base support 1011, 1012, and 1013 comprises a pair of base guide rails 1021, 1022, 1023, 1024, 1025, and 1026. The longitudinal axis of each pair of base guide rails extends perpendicular to the axes of the corresponding pair of upper guide rails 1121, 1122, 1123, 1124, 1125, and 1126 of the corresponding stacked tables 1146, 1147, and 1148. Underneath each of the tables 1146, 1147, and 1148, there are base engaging parts 1031, 1032, and 1033, respectively. Each base engaging part 1031, 1032, and 1033 comprises a set of four carriages, and each set of carriages engages with a pair of base guide rails 1021, 1022, 1023, 1024, 1025, and 1026. Each carriage has an upward-facing, nearly U-shaped member form, which has a wheel on its underside that engages with one of each of the base guide rails 1021, 1022, 1023, 1024, 1025, and 1026, thereby enabling a low-friction stroke of the carriage along the rails 1021, 1022, 1023, 1024, 1025, and 1026, while suppressing lateral movement relative to the rails 1021, 1022, 1023, 1024, 1025, and 1026.

[0060]

[0058] Each lower linear actuation device 1041, 1042, 1043 is supported on each base support 1011, 1012, 1013 between each pair of base guide rails 1021, 1022, 1023, 1024, 1025, 1026, with drive shafts parallel to each base guide rail 1021, 1022, 1023, 1024, 1025, 1026. The force portions of each lower linear actuation device 1041, 1042, 1043 are connected to the underside of each table 1146, 1147, 1148 in order to drive each table 1146, 1147, 1148 along the base guide rails 1021, 1022, 1023, 1024, 1025, 1026. Therefore, each upper linear actuation device 1141, 1142, 1143 is effectively stacked on top of each lower linear actuation device 1041, 1042, 1043 and moves perpendicularly to it, and each control member 1211, 1212, 1213 is laterally driveable in any selected lateral direction. The lower linear actuation devices 1041, 1042, 1043 in this embodiment take the form of electric linear motors, in particular iron-free or air-core electric linear motors. Those skilled in the art will recognize suitable alternative types of actuation devices, such as iron-core or magnet-free track linear motors, or any other type of actuation device that can provide suitable lateral motion.

[0061]

[0059] Each actuator 1001, 1002, 1003 is supported on separate base supports 1011, 1012, 1013, allowing for independent fixing and orientation of the base supports 1011, 1012, 1013 relative to one another. Each base support 1011, 1012, 1013 comprises a plate, for example, a pre-pressurized steel base plate attached to the floor at four anchoring points. The motion generator 1000 further comprises tables 1146, 1147, 1148, control members 1211, 1212, 1213 and / or couplings 1241, 1242, 1243 exceeding the limits of their designed strokes, various shock absorbers to mitigate impact and / or damage, and an emergency brake (not shown) to provide safety in case of a power supply failure to the motor.

[0062]

[0060] Longer base guide rails 1021, 1022 and a longer lower linear actuation device 1041 are provided on the preactuator 1001 than on the postactuators 1002, 1003, and the lateral range (in the Y-axis direction) of the preactuator is greater than the lateral footprint of the postactuators 1002, 1003. The preactuator 1001 provides a larger stroke range along the Y-axis than each of the postactuators 1002, 1003, allowing for a greater range of sway.

[0063]

[0061] The carriages 1231, 1232, and 1233 of couplings 1241, 1242, and 1243 engage with the rails 1221, 1222, 1223, 1224, 1225, and 1226 of inclined sections 1251, 1252, and 1253, respectively. As a result, the lateral XY forces acting independently on each of the control members 1211, 1212, and 1213 by their respective actuators 1001, 1002, and 1003 generate the resulting forces on each of the couplings 1241, 1242, and 1243 along their respective inclined paths P1, P2, and P3, driving each of the respective sections 1801, 1802, and 1803 of platform 1800 in the vertical Z direction. The motion and position of platform 1800, which has three translational degrees of freedom and three rotational degrees of freedom along its axes xc, yc, and zc, and around those axes, are determined by the combined movement and / or positioning of control members 1241, 1242, and 1243 in the XY plane by the actuators 1001, 1002, and 1003. Since couplings 1241, 1242, and 1243 are passively mounted on the inclined portion, i.e., there are no additional actuators to directly drive couplings 1241, 1242, and 1243 along the inclined paths P1, P2, and P3, the position of each coupling 1241, 1242, and 1243 along paths P1, P2, and P3 depends solely on the balance of forces received by couplings 1241, 1242, and 1243 from i) their directly engaged control members 1241, 1242, and 1243, and ii) other control members 1241, 1242, and 1243 via the platform 1800. The force transmission chains through each motion control unit 1201, 1202, and 1203 are independent, i.e., disengaged from one another. The motion generator 1000 has a motion envelope suitable for providing excursions typically found in motorsport and automobile cues, and is compact and robust. In its stationary state, the device 1000 has a height of approximately 400 mm from the floor and a footprint with a maximum width and length of approximately 1900 mm and 2100 mm, respectively, although it will be understood that the dimensions may be selected and modified according to the desired application of the device 1000.

[0064]

[0062] Figures 2 to 11 and 2a to 11a show the motion generator 1000 in various further states. Figures 2 and 2a show the maximum heave state in which all control members 1211, 1212, and 1213 are moved to their maximum extent inward. Couplings 1241, 1242, and 1243 are all located at the highest points of the outer ends of paths P1, P2, and P3, raising the overall height of all three peaks of platform 1800.

[0065]

[0063] Figures 3 and 3a show the minimum heave state in which all control members 1211, 1212, and 1213 are moved to their maximum outward extent. Couplings 1241, 1242, and 1243 are all located at the lowest points of the inner ends of paths P1, P2, and P3, and reduce the overall height of the platform at all three peaks of the platform 1800.

[0066]

[0064] Figures 4 and 4a show a possible pitch-down state in which the front control member 1211 is moved outward and forward along the X axis. The front coupling 1241 is at its lowest position at the inner end of the path P1, lowering the height of the front top 1801 of the platform 1800. The rear control members 1212 and 1213 also move outward. Because the center of rotation is not fixed, the motor position may move to accommodate a variable center of rotation.

[0067]

[0065] Figures 5 and 5a show the pitch-up state, where the front control member 1211 is moved inward and backward along the X-axis. The front coupling 1241 is at its highest position at the outer end of the path P1, raising the height of the front top 1801 of the platform 1800. The rear control members 1212 and 1213 maintain their neutral positions.

[0068]

[0066] Figures 6 and 6a show the rolled right state, where the rear right control member 1212 moves outward and the rear left control member 1213 moves inward, causing the rear right coupling 1242 to move to its lowest position, the height of the rear right top 1802 to decrease, the rear left coupling 1243 to move to its highest position, and the height of the rear left top 1803 to increase. The front control member 1211 maintains its neutral position.

[0069]

[0067] Figures 7 and 7a show the left state after rolling, where the rear right control member 1212 moves inward and the rear left control member 1213 moves outward, causing the rear right coupling 1242 to rise to its highest position, the height of the rear right top 1802 to rise, the rear left coupling 1243 to fall to its lowest position, and the height of the rear left top 1803 to fall. The front control member 1211 maintains its neutral position.

[0070]

[0068] Figures 8 and 8a show the rightward swinging state, where the front control member 1211 moves in a direction perpendicular to its axis by driving the front support table 1146 to the right in the Y-axis direction along the base rails 1021 and 1022. The rear right control member 1212 moves in a direction perpendicular to its axis by driving the rear right support table 1147 to the rear and left along the base rails 1023 and 1024. The rear left control member 1213 moves in a direction perpendicular to its axis by driving the rear left support table 1148 to the front and left along the base rails 1025 and 1026. The positions of the control members 1211, 1212, and 1213 along the drive shafts M1, M2, and M3 are adjusted so that their positions along the paths P1, P2, and P3 of the couplings 1241, 1242, and 1243 do not change. As a result, the rear right control member 1212 moves outward along its axis from the motion generator 1000, and the rear left control member 1213 moves inward along its axis from the motion generator 1000, while maintaining the heights of the tops 1801, 1802, and 1803.

[0071]

[0069] Figures 9 and 9a show the left state during lateral swaying, where the front control member 1211 moves in a direction perpendicular to its axis by driving the front support table 1146 to the left in the Y-axis direction along the base rails 1021 and 1022. The rear right control member 1212 moves in a direction perpendicular to its axis by driving the rear right support table 1147 forward and to the right along the base rails 1023 and 1024. The rear left control member 1213 moves in a direction perpendicular to its axis by driving the rear left support table 1148 backward and to the right along the base rails 1025 and 1026. The positions of the control members 1211, 1212, and 1213 along the drive shafts M1, M2, and M3 are adjusted so that their positions along the coupling paths P1, P2, and P3 do not change, thereby causing the rear right control member 1212 to move inward along its axis towards the motion generator 1000, and the rear left control member 1213 to move outward along its axis towards the motion generator 1000, while maintaining the heights of the tops 1801, 1802, and 1803.

[0072]

[0070] Figures 10 and 10a show the oscillating rightward state, in which the front control member 1211 is moved in a direction perpendicular to its axis by driving the front support table 1146 to the right along the base rails 1021 and 1022, and the front coupling 1241 and the front top 1801 of the associated platform 1800 move in the Y-axis direction. The position of the front control member 1211 along its axis does not change and is maintained in a neutral state, and the position of the front coupling 1241 along the front inclined path P1 also does not change, so the height of the front top 1801 does not change. i) The rear right control member 1212 is driven outward approximately to the right along the drive shaft M2, resulting in a rearward movement component as well; ii) To balance this undesirable rearward movement component, the rear right support table 1147 is driven approximately forward along the base rails 1023, 1024, thereby moving the rear right control member 1212 forward perpendicular to its axis, and thus moving the rear right coupling 1242, and therefore the rear right top 1802 of the platform 1800, to the right by the same distance and in the same direction as the front coupling 1241. The position of the rear right coupling 1232 along the rear right inclined path P2 remains unchanged, and the height of the right rear top 1802 remains unchanged. The rear left coupling 1243 and the left rear top 1803 of the associated platform 1800 move to the right in the same direction and by the same distance as the other couplings 1241 and 1242, which is achieved by (i) driving the rear left control member 1213 inward and generally to the right along the drive shaft M3, which also generates a forward component of the movement, and (ii) in order to cancel out this unwanted forward component of the movement, the rear left support table 1148 is driven generally rearward along the base rails 1025 and 1026, and further to the right. The position of the rear left coupling 1233 along the rear left inclined path P3 does not change, and the height of the left rear top 1803 does not change.

[0073]

[0071] Figures 11 and 11a show the forward surge state. The front control member 1211 is moved completely forward in the X-axis direction along the drive shaft M1. The rear right table 1147 and rear left table 1148 are moved to their foremost positions along their respective rear base rails 1023, 1024, 1025, and 1226. The rear right control member 1212 and rear left control member 1213 are moved inward along their respective drive shafts M2 and M3 so that the positions of the rear right coupling 1242 and rear left coupling 1243 along the inclined paths P2 and P3 are maintained as the tables 1147 and 1148 move forward, thereby enabling forward surge while keeping the platform 1800 horizontal and maintaining the same height for the tops 1801, 1802, and 1803.

[0074]

[0072] Figure 12 shows another embodiment of the motion generating device 2000, which comprises a plurality of actuators 1001, 2002, and 2003, each independently configured to drive corresponding control members 1211, 2212, and 2213 laterally in multiple directions. The structure and operation of the device 2000 are similar to the device 1000 described above in relation to Figures 1 to 11a, but there are differences in the actuators. In describing the structure and operation of the device 2000, only the differences will be described. If the features of the device 2000 in Figure 12 are the same as the features of the device 1000 already mentioned, the same reference numerals will be used.

[0075]

[0073] In the motion generating device 2000 of Figure 12, each rear control member 2212, 2213 is supported by a rear upper support, i.e., a table 2147, 2148, and is movable in the lateral plane along the longitudinal axis of the tables 2147, 2148. The longitudinal axis of each rear table 2147, 2148 extends parallel to the X axis. Each rear table 2147, 2148 is equipped with an upper guide. The longitudinal axis of each guide extends parallel to the X axis in the lateral XY plane. Each guide is equipped with a pair of parallel upper guide rails 2123, 2124, 2125, 2126. The base portion of each control member 1211, 2212, 2213 is provided with an upper engaging portion. The engaging portions of the rear control members 2212 and 2213 are angled in the lateral XY plane with respect to the longitudinal axes of the rear control members 2212 and 2213. When the upper engaging portions engage with the respective upper guides 2123, 2124, 2125, and 2126, the longitudinal axes of the rear control members 2212 and 2213 are inclined inward, and the inclined paths P1, P2, and P3 generally extend toward the interior area of ​​the platform 1800 when the motion generator 2000 is stationary.

[0076]

[0074] Each upper engaging section 2132, 2133 is equipped with a set of four carriages, and each carriage set engages with a pair of guide rails 2123, 2124, 2125, and 2126. Each carriage takes the form of an upward-facing, substantially U-shaped member with a wheel on its underside, and the wheel engages with one of the guide rails 2123, 2124, 2125, and 2126, thereby suppressing lateral movement relative to the rails and allowing the carriage to travel along the rails with low friction.

[0077]

[0075] Each drive mechanism 1001, 2002, and 2003 is independently connected to the corresponding control members 1211, 2212, and 2213 for independent force transmission and is equipped with upper linear actuation devices 1141, 2142, and 2143, respectively. Each upper linear actuation device 1141, 2142, and 2143 is supported by the respective tables 1146, 2147, and 2148 and connected to the corresponding control members 1211, 2212, and 2213 via their respective force units (drivers). The drive shafts M5 and M6 of the rear upper linear actuation devices 2142 and 2143 are positioned approximately parallel to the X-axis of the motion generator 2000 and are aligned with the guide rails 2123, 2124, 2125, and 2126 to supply driving force to the respective rear control members 2212 and 2213. The upper linear actuation devices 1141, 2142, and 2143 of this embodiment take the form of electric linear motors, particularly coreless or air-core type electric linear motors.

[0078]

[0076] The motion generator 2000 includes a rear lower linear actuation device 2042, which extends substantially along the entire rear of the device 2000 in the Y direction and is shared by both the rear right and rear left actuation devices 2002, 2003. The rear lower linear actuation device 2042 is supported on a common base support 2012 between a pair of rear base guide rails 2023, 2024, and its drive axis is parallel to the rails 2023, 2024. The individual force units (not shown) of the rear lower linear actuation device 2042 are connected to the underside of the rear tables 2147, 2148 respectively and drive each rear table 2147, 2148 independently along the rear base guide rails 2023, 2024.

[0079]

[0077] Thus, each rear upper linear actuation device 2142, 2143 is stacked on a common rear lower linear actuation device 2042, allowing for orthogonal movement relative to it, and each rear control member 2212, 2213 can be driven laterally in any selected lateral direction. The rear lower linear actuation device 2042 takes the form of an electric linear motor, particularly an iron-free or air-core type electric linear motor. The rear base support 2012 may include a pre-stressed steel base plate. The motion generator 2000 is equipped with two rear-acting units 2002 and 2003, each having rear-upper linear actuating units 2142 and 2143 stacked on a predetermined portion of a common rear-lower linear actuating unit 2042. The rear-lower linear actuating unit 2042 is arranged to independently drive each of the rear-upper linear actuating units 2142 and 2143 along a common guide in the Y direction, i.e., in a direction approximately perpendicular to the front-rear X-axis of the motion generator 2000, which clearly allows for an expanded range of sway.

[0080]

[0078] The operating principle of another device 2000 is similar to that of device 1000, and the available range of motion is also similar, except for the additional function of expanding the range of sway.

[0081]

[0079] Figure 13 shows a motion generator 1000, which further comprises a crew carrier 1300, the crew carrier 1300 which is fixed to a motion platform 1800 and moves with the platform 1800 to transmit motion to a crew member (not shown). The crew carrier 1300 is for motorsport simulation and provides a seat for a single crew member. Figure 14 is a perspective view of the motion generator 1000 from the front left and includes another crew carrier 1400 which is fixed to the motion platform 1800 and moves with the platform 1800 to transmit motion to a crew member (not shown). The crew carrier 1400 is for more general automobile simulation.

[0082]

[0080] The main components of the devices 1000 and 2000 can be formed from suitable engineering materials such as metal alloys or composite materials that are relatively lightweight, can transmit high forces (including transient forces), and can provide mechanical rigidity while supporting the weight of the platforms 1800 and crew carriers 1300 and 1400. Generally, materials suitable for components supporting the high bandwidth performance of the motion generators 1000 and 2000 need to provide sufficient rigidity to minimize the mechanical compliance (deflection) of the components when the actuators 1001, 1002, 1003, 2002, and 2003 drive the platforms 1800 and crew carriers 1300 and 1400 via the motion control units 1201, 1202, and 1203, even under shear, tensile, or torsional loads. Where appropriate, relatively lightweight fiber-reinforced composite materials can be used, with the fiber orientation set to provide high rigidity. The rotary joints 1261, 1262, and 1263 can be made of, for example, hardened high-carbon steel or other suitable materials. The control members 1211, 1212, 1213, 2212, 2213 and / or tables 1146, 1147, 1148, 2147, and 2148 can be made of, for example, aluminum, or an aluminum composite, or other suitable materials. The base supports 1011, 1012, 1013, and 2012 can be made of, for example, steel or aluminum, or other suitable materials.

[0083]

[0081] The motion generators 1000, 2000 can be used to simulate the motion of vehicles, such as ground vehicles and vehicles in the air, space, or at sea. When using a motion platform system to simulate vehicle motion, various mechanical and electronic controls (not shown) are provided in or on the crew carrier, and various sensors and processors (not shown) are provided to detect parameters such as the position, velocity, and / or acceleration of each component of the motion generator 1000. These controls and sensors are connected to transmit control information to a system processor (not shown) to control the actuators 1001, 1002, 1003, 1001, 2002, 2003 according to commands from the controls. A display (not shown) controlled by the system processor and providing visual information during the simulation may also be provided. Such a motion platform system can be configured to simulate the motion of vehicles on land, in the air, in space, or at sea, such as aircraft, spacecraft, hovercraft, seaplanes, and land vehicles (e.g., single-seat high-performance cars, crawler vehicles, off-road vehicles). The motion generators 1000 and 2000 of this embodiment have motion envelopes suitable for applying excursions commonly seen in motorsports and automotive cueing. However, it is clear that a variety of other motion envelopes can also be obtained by using variations of this embodiment.

[0084]

[0082] Although the present invention has been described and illustrated in relation to specific embodiments, those skilled in the art will understand that the present invention can be applied to a variety of modifications not specifically illustrated herein. Where, in the foregoing description, integers or elements having known, obvious, or foreseeable equivalents are referred to, these equivalents are also included herein as individually described. To determine the true scope of the present invention, one should refer to the claims, which should be construed to encompass these equivalents. Furthermore, where integers or features of the invention are described as preferred, advantageous, convenient, etc., they are optional and do not limit the scope of the independent claims. Moreover, it should be understood that any such integers or features may be beneficial in some embodiments of the present invention but undesirable in other embodiments and therefore may not exist.

Claims

1. A motion generating device for an exercise platform system, A platform to support crew carriers, A plurality of motion control devices, each configured to independently provide motion control to each part of the platform, each comprising i) a control member and ii) a rotatable coupling connected between the platform and each control member, Each of the control members is independently configured to drive in multiple lateral directions, Equipped with, At least one of the control members is provided with an inclined portion, and each of the couplings is configured to engage with each of the inclined portions, thereby driving each of the control members laterally under the control of the control members, pushing each of the couplings in a direction along the inclined path, and thereby applying the vertical component of the driving force to each of the portions of the platform. A motion generating device in which the lateral and vertical motion and positioning of the platform, which has multiple degrees of freedom, are determined by a combination of movement and / or positioning of the control member.

2. The motion generating device according to claim 1, wherein a plurality of control members, for example, three control members, each having its own inclined portion and configured to engage with its own coupling, and by driving each control member laterally, each coupling is driven along its own inclined portion and along its own inclined path under the control of its own control member, thereby applying a vertical component of the driving force to each of the respective parts of the platform.

3. The motion generating device according to claim 2, wherein the inclined path generally extends toward the interior area of ​​the platform when the motion generating device is stationary.

4. The motion generating device according to claim 2 or 3, comprising two rearward motion control devices, wherein the direction of the inclination path of each of the rearward motion control devices has an angle between them of about 20° to 160°, preferably about 90° to 140°, more preferably about 120°.

5. The motion generating device according to claim 2, 3, or 4, wherein the respective vertical angles between the direction of the inclined path and the plane extending laterally are in the range of about 10° to about 45°, preferably about 16°.

6. The motion generating device according to any one of claims 1 to 5, wherein the coupling or each coupling configured to engage with each inclined portion is engaged to move freely along each of the inclined paths, and the motion of the coupling or each coupling is controlled by the control member or each control member.

7. The motion generating device according to any one of claims 1 to 6, wherein each coupling comprises a carriage, the carriage is connected to the platform via rotatable connector joints arranged between each portion of the platform and the carriage or between each carriage.

8. The motion generating device according to any one of claims 1 to 7, wherein the rotatable coupling is fixed to the translational movement of the coupling relative to the platform and enables rotational movement between the platform and the control member or each control member.

9. The motion generating device according to any one of claims 1 to 8, wherein the rotatable coupling or each rotatable coupling provides three rotational degrees of freedom of movement to the portion or each portion of the platform.

10. A motion generating device according to any one of claims 1 to 9, comprising three or more motion control devices, each related to each of the operating devices.

11. The motion generating device according to any one of claims 1 to 10, wherein the combined movement and / or positioning of all the control members controls the movement and positioning of the platform with three translational and three rotational degrees of freedom.

12. The motion generating device according to any one of claims 1 to 11, wherein the motion control equipment or each motion control equipment is provided with a guide, and each guide is configured to restrain the movement of each coupling to translation along each inclined path.

13. The motion generating device according to claim 12, wherein the control member or each control member comprises the respective guides, for example, one or more rails, extending along the respective inclined portions.

14. The motion generating device according to claim 13, wherein the coupling or each coupling comprises a carriage including one or more rotatable wheels, each having an engagement portion, configured, for example, to engage with the guide of the control member, and the coupling or each coupling is guided along the inclined path.

15. The motion generating device according to any one of claims 1 to 14, wherein the operating equipment includes each linear operating device, and each linear operating device has a drive shaft that is angled to align laterally with each inclined path.

16. The motion generating device according to any one of claims 1 to 14, wherein the operating equipment includes each linear operating equipment, and each linear operating equipment has a drive shaft that is positioned at an angle so as not to be aligned laterally with each inclined path.

17. At least one of the aforementioned operating equipment comprises a plurality of stacked linear operating devices, The motion generating device according to any one of claims 1 to 16, wherein the actuation equipment or each actuation equipment is independently connected to the control member or each control member for independent force transmission.

18. The motion generating device according to any one of claims 1 to 17, wherein at least one of the aforementioned operating equipment is an electric linear motor.

19. The motion generating device according to any one of claims 1 to 18, wherein each operating device is supported on a separate base support, allowing for independent fixing and orientation of the base supports with respect to each other.

20. The motion generating device according to any one of claims 1 to 19, wherein the operating equipment includes each linear operating device having a drive shaft arranged substantially parallel to the front-rear axis of the motion generating device.

21. A motion generator according to any one of claims 1 to 20, comprising two rearward actuators, each of which comprises an upper linear actuator stacked on a respective portion of a common lower linear actuator, the lower linear actuators being arranged to independently drive the upper linear actuators along a common guide extending substantially perpendicular to the longitudinal axis of the motion generator, thereby enabling an increased range of sway.

22. A motion generating device comprising two rear actuators and a front actuator, wherein the front actuator provides a larger stroke range than each of the rear actuators in a direction substantially perpendicular to the longitudinal axis of the motion generating platform, thereby enabling an increased sway range, according to any one of claims 1 to 21.

23. The motion generating device according to any one of claims 1 to 22, wherein the platform comprises a rigid frame.

24. The motion generating device according to any one of claims 1 to 23, further comprising a crew carrier fixed to move relative to a platform, wherein the crew carrier includes, for example, a seat for one crew member, or tandem, side-by-side, or multiple seats for multiple crew members.

25. A motion platform system for simulating vehicle motion, comprising a motion generating device according to any one of claims 1 to 24.

26. The motion platform system according to claim 24, configured to simulate the motion of land, air, space, or sea vehicles, including aircraft, spacecraft, hovercraft, ships, or land vehicles, such as land vehicles like single-seat performance cars, or track or off-road vehicles.

27. A simulator for simulating vehicle motion, A movable frame that supports the crew's seat and control unit, Three inward-facing control wedges, each having an inward-facing and an upward-facing inclined wedge surface, Each is connected to its respective fixed position on the frame by i) a rotatable joint having three rotational degrees of freedom of movement, and ii) three couplings that engage with one of each inclined surface to guide relative translational movement along the surface, Each wedge is driven independently by a linear motor in any desired horizontal direction, Equipped with, The motion of the frame, which has three rotational degrees of freedom and three translational degrees of freedom, is controlled by the operation of a linear motor in this simulator.

28. The simulator according to claim 27, wherein the linear motor has drive shafts extending along the front-rear and left-right directions of the simulator, and each direction of the drive shafts is positioned at a lateral angle with respect to each direction of the guided movement of the coupling along each of the inward-facing surfaces.

Images