Method for displacing a motion platform device and a payload platform.

Abstract

The motion platform apparatus 100 for vehicle simulation comprises a payload platform 134 having peripheral upper and lower sections 136, 138, 140. The apparatus 100 also comprises a base stage 102 having peripheral fixed sections, and linkages 110, 112, 114 configured to couple the peripheral fixed sections to the peripheral upper and lower sections, respectively. The first linkage 110 comprises a first arm 116 operably connected at its first end to a second arm 122 by a spherical joint 128. The first arm is operably coupled at its second end to a fixed section of the peripheral fixed section by a first revolute joint 132. The second arm is operably coupled at its second end to the upper and lower sections 136 by a second revolute joint 146.

Description

Technical Field

[0001]

[0001] The present invention relates to a motion platform device of a type that can move, for example, with three degrees of freedom. The present invention also relates to a method of displacing a payload platform, a type of method that can move a payload platform, for example, with three degrees of freedom.

Background Art

[0002]

[0002] In the field of motion platforms, as with others, degrees of freedom are usually referred to as surge, roll, sway, pitch, heave, and yaw. Surge is a translation along an axis aligned front and back, roll is a rotation about the surge axis, sway is a translation along an axis aligned left and right, pitch is a rotation about the sway axis, heave is a translation along an axis aligned up and down, and yaw is a rotation about the heave axis.

[0003]

[0003] In general, various architectures that provide the three degrees of freedom of motion that are the above-mentioned heave, pitch, and roll are known. It is known to raise a peripheral elevation site of a payload platform above a base surface by a plurality of link mechanisms, each link mechanism using a pair of crank members or a single crank member, which are coupled to the base via a drive motor fixed at a first end and respectively coupled to a tip of a wishbone member by a rotary joint at a second end. The neck end of the wishbone member is coupled to the peripheral elevation site of the peripheral elevation site. An example of such a motion platform configuration is the PS-3TM-1000 motion platform available from Motion Systems Michaul Stanek, Poland.

[0004]

[0004] However, such a configuration is not efficient in terms of stiffness per unit mass when subjected to yaw torque because the crank and wishbone members are subjected to torsion which tends to distort the crank. In this regard, stiffness is desirable to reduce undesirable distortion of such linkage mechanisms which degrades the positional accuracy of the payload platform. Also, at certain resonant frequencies, the movement of the crank relative to the wishbone member is out of phase due to the lack of stiffness, thereby degrading the positional accuracy of the payload platform. Therefore, yaw stiffness is desirable to mitigate the above-mentioned problems. The requirement for stiffness increases when the motion platform and the yaw table to which the motion platform is attached are further attached to the surge and sway translation stage, as surge and sway acceleration tend to introduce additional yaw torque to the motion platform.

[0005]

[0005] To counteract the torsional effects on the link mechanism, it is known to increase the size of existing elements of the motion platform structure. However, this increases the mass, thereby increasing the cost and reducing the dynamic performance. It is also known to add additional mechanism elements to the motion platform structure. However, such means are supplementary and thereby increase the mass, complexity of motion, inventory, and therefore the cost of the motion platform structure. [Overview of the Initiative]

[0006]

[0006] According to a first aspect of the present invention, a motion platform device for vehicle simulation is provided, comprising: a payload platform having peripheral upper and lower portions; a base stage having peripheral fixed portions; and a link mechanism configured to connect the peripheral fixed portions to the peripheral upper and lower portions, the link mechanism comprising a first link mechanism, the first link mechanism comprising a first arm, the first arm being operably connected at its first end to a second arm by a spherical joint, the second arm being operably connected at its second end to a fixed portion of the peripheral fixed portion by a first rotary joint, and the second arm being operably connected at its second end to the upper and lower portions of the peripheral upper and lower portions by a second rotary joint.

[0007]

[0007] The first arm may be a first fork. The spherical joint may be a ball joint. The second arm may be a second fork.

[0008]

[0008] The first fork may be operably coupled to the second fork at the neck ends of each of its parts.

[0009]

[0009] The first fork may be a first wishbone, and the second fork may be a second wishbone.

[0010]

[0010] The first link mechanism may be configured to selectively raise the upper and lower parts.

[0011]

[0011] The device may further include an actuator configured to move the first link mechanism over a range of extension. The actuator may be operably coupled to the tip of the first fork.

[0012]

[0012] The actuator may be an electric motor. The device may further include a gearbox. The actuator may be operably coupled to the first link mechanism by the gearbox.

[0013]

[0013] The link mechanism is a second link mechanism comprising a third arm, the third arm further comprising a second link mechanism at its first end which is operably coupled to a fourth arm at its first end. The third arm may be operably coupled at its second end to another fixing part of the peripheral fixing part. The fourth arm may be operably coupled at its second end to another upper or lower part of the peripheral upper or lower part.

[0014]

[0014] The link mechanism is a third link mechanism comprising a fifth arm, the fifth arm further comprising a third link mechanism at its first end which is operably coupled at its first end to a sixth arm. The fifth arm may be operably coupled at its second end to another fixing part of the peripheral fixing part. The sixth arm may be operably coupled at its second end to another upper or lower part of the peripheral upper or lower part.

[0015]

[0015] The first, second, and third linkage mechanisms may be independently controllable. The first, second, and third linkage mechanisms may be configured to control the roll, pitch, and / or heave applicable to the payload when it is placed on the payload platform.

[0016]

[0016] The apparatus may further include a turntable equipped with a base stage.

[0017]

[0017] The apparatus may further comprise two translational stages capable of linear translation in substantially vertical directions. The motion platform apparatus may be operably coupled to the translational stages.

[0018]

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

[0019]

[0019] The system may further include a payload, such as a vehicle cockpit, placed on a payload platform.

[0020]

[0020] The system may further include a display positioned within the field of view and processing resources operably coupled to the display and the motion platform device, the processing resources may control the operation of the motion platform device and thereby simulate the performance aspects of the vehicle.

[0021]

[0021] According to a third aspect of the present invention, a method is provided for displacing a payload platform for a vehicle simulator, comprising the steps of: connecting the first end of a first arm to the first end of a second arm by a spherical joint; connecting the second end of the first arm to the peripheral fixing portion of a peripheral fixing portion of a base stage by a first rotary joint; connecting the second end of the second arm to the peripheral upper and lower portions of a payload platform by a second rotary joint; and selectively acting the connected first and second arms to raise the peripheral fixing portion.

[0022]

[0022] According to a fourth aspect of the present invention, a control arm drive device is provided, comprising an electric motor having an output shaft and a gearbox configuration comprising a first gearbox spaced apart from a second gearbox, wherein the first gearbox comprises a first torque input and a first outward torque output positioned opposite to the first torque input, and the second gearbox comprises a second torque input and a second outward torque output positioned opposite to the second torque input, wherein the first torque input and the second torque input are coaxial and coupled to each other by a drive shaft, and the output shaft of the electric motor is operably coupled to the drive shaft.

[0023]

[0023] The electric motor may be configured to rotate the drive shaft during use.

[0024]

[0024] The first longitudinal axis of the output shaft of the electric motor may be arranged parallel to the second longitudinal axis of the drive shaft. The output shaft may be arranged opposite the drive shaft in a manner that overlaps with it.

[0025]

[0025] The drive shaft may be operably coupled to the output shaft by a drive belt.

[0026]

[0026] The output shaft may support the first pulley, and the drive shaft may support the second pulley. The drive belt may be configured to engage with the first pulley and the second pulley.

[0027]

[0027] The electric motor may be offset from the drive shaft.

[0028]

[0028] According to a fifth aspect of the present invention, there is provided a yaw table device for a motion platform, comprising a non-rotatable stage, a base stage disposed opposite to the non-rotatable stage and rotatable with respect to the non-rotatable stage, and a drive structure having a housing and an output surface. The base stage includes a central opening, the drive structure extends through the central opening of the base stage, the output surface of the drive structure is fixed to the non-rotatable stage, and the housing of the drive stage is fixed to the base stage.

[0029]

[0029] The base stage may be maintained in a spaced relationship from the non-rotatable stage by a peripheral side wall extending from the non-rotatable stage toward the base stage.

[0030]

[0030] The device may further include a complementary peripheral support structure including a first portion supported by the base stage and opposed to a second portion supported by the non-rotatable stage.

[0031]

[0031] The second portion of the complementary peripheral support structure may be supported by the peripheral side wall.

[0032]

[0032] The drive structure may include an electric motor operably coupled to a gearbox. The gearbox may include an output surface.

[0033]

[0033] The gearbox may include an outer housing. The outer housing of the gearbox may be fixed to the base stage.

[0034]

[0034] The non-rotatable stage may be disposed below the base stage.

[0035]

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

[0036]

[0036] The complementary peripheral support structure may be substantially circular.

[0037]

[0037] The housing of the drive component may be configured to rotate in response to an input control signal while the output surface and non-rotating stage remain substantially stationary during use.

[0038]

[0038] According to a sixth aspect of the present invention, a yaw table device for a motion platform is provided, comprising a non-rotatable stage, a base stage positioned opposite the non-rotatable stage and rotatable relative to the non-rotatable stage, and a drive component having a housing, wherein the drive component is configured such that the rotational motion of the housing rotates the base stage during use.

[0039]

[0039] According to a seventh aspect of the present invention, a motion platform device is provided, comprising a yaw table device as described above in relation to a first or second aspect of the present invention, wherein a base stage is configured to support a payload platform having peripheral upper and lower portions, and the base stage is operably coupled to the payload platform by an operable peripheral link mechanism extending between a lower peripheral fixed portion of the base stage and the peripheral upper and lower portions of the payload platform.

[0040]

[0040] Therefore, it is possible to provide apparatus and methods that can avoid or at least mitigate the effects of torsion between the base surface and the payload platform, such as stress on the link mechanism, when the apparatus experiences high-torque yaw movement. The apparatus and methods also provide improved positional accuracy and improved high-frequency movement control under yaw conditions that result in deflection or resonance of the link mechanism, but are not particularly limited. The apparatus and methods eliminate the need for auxiliary means to be implemented to reduce the effects of torsion, thereby reducing the bill of materials and the overall mass of the apparatus, as well as the assembly time and complexity of the apparatus.

[0041]

[0041] Herein, with reference to the attached drawings, at least one embodiment of the present invention will be described as merely an example. [Brief explanation of the drawing]

[0042] [Figure 1] This is a first perspective view of the motion and gearbox layout of a motion platform device comprising one embodiment of the present invention. [Figure 2] This is a second perspective view of the motion platform device shown in Figure 1, including the payload platform. [Figure 3] Figure 2 is a side view of the motion platform device from direction A. [Figure 4] Figures 1 to 3 are schematic diagrams of the control system for the devices shown in Figures 1 to 3. [Figure 5] This is a flowchart illustrating a method for displacing a payload platform, which constitutes another embodiment of the present invention. [Figure 6] This is a more detailed flowchart of a portion of the flowchart in Figure 5. [Figure 7] This is a flowchart of a first method for supporting a payload platform, which constitutes a further embodiment of the present invention. [Figure 8] This is a flowchart of a second method for supporting a payload platform, which constitutes yet another embodiment of the present invention. [Figure 9] These are schematic diagrams of alternative drive systems to the drive systems shown in Figures 1, 2, and 3. [Figure 10] This is a schematic diagram of the yaw table drive system. [Modes for carrying out the invention]

[0043]

[0052] The same reference numbers will be used to identify similar parts throughout the following explanation.

[0044]

[0053] Referring to Figure 1, the motion platform device 100 comprises a base stage 102, which is radially positioned on the base stage 102 and supports a first drive system 104, a second drive system 106, and a third drive system 108 fixedly mounted to the base stage 102. The motion platform device 100 also comprises a first link mechanism 110, a second link mechanism 112, and a third link mechanism 114. The first link mechanism 110 comprises a first arm 116 having a first end 118 and a second end 120. The first link mechanism 110 also comprises a second arm 122 having a first end 124 and a second end 126. The first arm 116 is operably coupled at its first end 118 to the second arm 122 by a first spherical joint 128 at its first end 124. The first gearbox 130 of the first drive system 104 is positioned on the base stage 102 and fixed to the base stage, and the first arm 116 is operably coupled to the first gearbox 130 at its second end 120 by a first rotary coupling 132 formed by the first output shaft 133 of the first gearbox 130. The first gearbox 130 provides a first fixed portion on the base stage 102.

[0045]

[0054] Referring to Figures 2 and 3, the motion platform device 100 further comprises a payload platform 134 having a first peripheral upper and lower portion 136, a second peripheral upper and lower portion 138, and a third peripheral upper and lower portion 140. In this example, the payload platform 134 has a hexagonal outer perimeter and is planar. In this example, the payload platform 134 is formed by interconnected peripheral tubular members 142 and Y-shaped cross members 144 for support. Naturally, those skilled in the art will understand that the payload platform 134 can be constructed in several different ways and that substitutes for the peripheral tubular members 142 and / or Y-shaped cross members 144, such as plates, can be used. The second arm 122 is operably coupled at its second end 126 to the first peripheral upper and lower portion 136 of the payload platform 134 by a second rotary joint 146.

[0046]

[0055] Referring back to Figure 1, the second linkage mechanism 112 comprises a first arm 148 having first and second ends, and a second arm 150 having first and second ends. The first arm 148 is operably coupled at its first end to the second arm 150 by a second spherical joint 152. The second gearbox 154 of the second drive system 106 is located on and fixed to the base stage 102, and the first arm 148 is operably coupled at its second end to the second gearbox 154 by a third rotary joint 156 formed by the second output shaft 153 of the second gearbox 154. The second gearbox 154 provides a second fixed position on the base stage 102. Referring to Figure 2, the second arm 150 is operably coupled at its second end to the second peripheral upper and lower portion 138 of the payload platform 134 by a fourth rotary joint 158.

[0047]

[0056] Referring back to Figure 1, the third linkage mechanism 114 comprises a first arm 160 having first and second ends, and a second arm 162 having first and second ends. The first arm 160 is operably coupled at its first end to the second arm 162 by a third spherical joint 164. The third gearbox 166 of the third drive system 106 is located on and fixed to the base stage 102, and the first arm 160 is operably coupled at its second end to the third gearbox 166 by a fifth rotary joint 168 formed by the third output shaft 167 of the third gearbox 166. The third gearbox 166 provides a third fixed point to the base stage 102. Referring to Figures 2 and 3, the second arm 162 is operably coupled at its second end to the third peripheral upper and lower portion 140 of the payload platform 134 by a sixth rotary joint 170.

[0048]

[0057] In this example, the first arms 116, 148, and 160 are each the first wishbone, and the second arms 122, 150, and 162 are each the second wishbone. The first and second wishbones constitute the first and second forks, respectively. Each of the first forks has a tip 120 and a neck end 118. Similarly, each of the second forks has a tip 126 and a neck end 124. In this example, the first and second forks are joined to each other at their neck ends 118 and 124, respectively. The tip 120 of the first fork is joined to the first, second, and third peripheral fixing parts, respectively, and the tip 126 of the second fork is joined to the first, second, and third peripheral upper and lower parts 136, 138, and 140, respectively.

[0049]

[0058] As those skilled in the art will understand, various designs of spherical joints exist. In this example, the first, second, and third spherical joints 128, 152, and 164 are the first, second, and third spherical joints, respectively. However, the use of other designs of spherical joints is conceivable.

[0050]

[0059] As shown in Figure 1, the first drive system 104 includes a first motor, for example, a first electric motor 172, operably coupled to the first gearbox 130. The second drive system 106 includes a second motor, for example, a second electric motor 174, operably coupled to the second gearbox 154. The third drive system 108 includes a third motor, for example, a third electric motor 176, operably coupled to the third gearbox 166. The first, second, and third motors 172, 174, and 176 constitute the first, second, and third actuators, respectively.

[0051]

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

[0052]

[0061] As in the example described above, the first alternative drive system 800, which constitutes a replacement for the first drive system 104, is radially positioned on the base stage 102 and is fixedly mounted to the base stage 102 in a manner described herein. The first alternative drive system 800 comprises an offset electric motor 802 operably coupled to a pair of gearbox components 804. The offset motor 802 comprises a motor output shaft 806 supporting a first pulley 808. The pair of gearbox components 804 are positioned between the tip portions 120 of the first lower control arm 116. The tip portion 120 comprises a first side end 810 and a second side end 812, the first side end 810 comprising one or more first connection points 814, and the second side end 812 comprising one or more second connection points 816. The paired gearbox configuration 804 comprises a drive shaft 818 extending between a first side gearbox 820 located at the first side end 810 and a second side gearbox 822 located at the second side end 812. The drive shaft 818 of the paired gearbox configuration 804 supports a second pulley 824, and the first pulley 808 is coupled to the second pulley 824 by a drive belt 826, which then engages with the first and second pulleys 808 and 824. Thus, it should be understood that the first longitudinal axis of the motor output shaft 806 is positioned parallel to the second longitudinal axis of the drive shaft 818, and the motor output shaft 806 is positioned in an overlapping relationship opposite to the drive shaft 818. The offset motor 802 is offset relative to the drive shaft 818.

[0053]

[0062] The gearbox 820 on the first side comprises a first housing 828, and the gearbox 822 on the second side comprises a second housing 830. A central mounting structure 832 is fixed to the base stage 102, and the gearboxes 820 and 822 on the first and second sides are mounted to the central mounting structure 832. The central mounting structure 832 also houses the drive belt 826, supports the offset motor 802, and serves to transmit load between the first lower control arm 116 and the base stage 102.

[0054]

[0063] The first side gearbox 820 includes a first gearbox input shaft 834 that constitutes a first torque input, and the second side gearbox 822 includes a second gearbox input shaft 836 that constitutes a second torque input. The first and second gearbox input shafts 834 and 836 each have first and second coaxial openings for receiving the first end 838 and the second end 840 of a drive shaft 818 that extends coaxially with the first and second gearbox input shafts 834 and 836. The second pulley 824 is positioned in the center between the first and second gearbox input shafts 834 and 836. The paired gearbox components 804 also include a first output flange 842 that constitutes a first outward torque output at the first side end 810 and a second output flange 844 that constitutes a second outward torque output at the second side end 812. The first output flange 842 is connected to the first connection point 814 of the first lower control arm 116, and the second output flange 844 is connected to the second connection point 816 of the first lower control arm 116, so that the rotation axis of the tip portion 120 of the first lower control arm 116 is coaxial with the central axes of the first and second output flanges 842 and 844.

[0055]

[0064] The torque required to transmit the load between the first lower control arm 116 and the base stage 102 in this example necessitates a paired gearbox configuration 804 to provide a high reduction ratio. The paired gearbox configuration 804 is mechanically optimized to minimize mass, maximize rigidity, minimize volume, and supply the same input torque to both the first and second side ends 810, 812 of the first lower control arm 116.

[0056]

[0065] During operation, the offset motor 802 is actuated to rotate the first lower control arm 116 relative to the base stage 102, thereby rotating the motor output shaft 806 and, consequently, the first pulley 808. The first pulley 808 then drives the second pulley 824 using the drive belt 826. The second pulley 824 rotates the drive shaft 818 and, consequently, the first and second gearbox input shafts 834, 836 coupled to the drive shaft 818. The first and second output flanges 842, 844 then rotate in response to the rotation of the first and second gearbox input shafts 834, 836, but at a slower rotational speed due to the gear ratio described above. The rotation of the first and second output flanges 842 and 844, which are coupled to the first and second side ends 810 and 812 of the first lower control arm 116, respectively, serves to rotate the first lower control arm 116 up and down, thereby raising or lowering the spherical joint 128.

[0057]

[0066] The use of gearboxes 820 and 822 on the first and second sides allows for substantially half the torque to be applied to each of the first and second side ends 810 and 812 compared to the use of a single gearbox mounted on one side of the first lower control arm 116. Thus, the rotational inertia of the yaw is reduced compared to other mechanical components having the same total torque transmission capacity. Furthermore, the rigidity of the motion platform device 100 is optimized by reducing the elongation of the drive belt by coupling the drive belt 826 to the lower torque side of the gearboxes 820 and 822 on the first and second sides.

[0058]

[0067] Referring to Figure 3, in the above example, the base stage 102 is rotatably mounted on the motion stage platform 190, forming a turntable. The base stage 102 is driven by a motor and gearbox configuration comprising a yaw table motor and gearbox unit 192 via a circumferential drive belt (not shown). The ability of the base stage 102, and thus the payload platform 134, to rotate is optional and depends on the embodiment used. In another example, the base stage 102, and the motion stage platform 190, if optionally provided, are mounted on a translational stage system, e.g., a surge-sway motion stage system (not shown), which is capable of linearly translating in two substantially vertical directions, to provide surge or sway motion of the payload platform 134. The surge-sway motion stage system can be any suitable configuration for translating the payload platform 134 and / or the base stage 102 along the surge axis or sway axis. However, the provision of surge-sway motion stage systems is not central to understanding the examples described herein and will not be explained in further detail.

[0059]

[0068] In further embodiments, a different drive mechanism for the base stage 102 is used, which replaces the motor and gearbox unit / drive belt configuration of the above-described example. Referring to Figure 10, the motion stage platform 190 comprises a non-rotatable lower stage 900, for example, a substantially circular stage, but a stage of other shape may be used, and includes an upright peripheral wall 902 extending substantially perpendicularly from the lower stage 900 toward the base stage 102. The peripheral wall 902, for example, the circumferential side wall, includes a first opposing surface 904 that supports a circumferential support rail 906. The base stage 102 is rotatable and is positioned opposite the lower stage 900 at a distance from it. The base stage 102 includes a circumferential support carriage 908 on its underside, which constitutes a second opposing surface 910. The circumferential bearing carriage 908 cooperates with the circumferential bearing rail 906 to form a complementary perimeter bearing structure to facilitate low-friction rotational motion of the rotary base stage 102 during use. The rotary base stage 102 has a through-central opening 912 for receiving a yaw drive structure 914. In this example, the yaw drive structure 914 comprises a centrally mounted motor 916 operably coupled to a centrally mounted gearbox 918, the centrally mounted motor 916 having a motor housing 920, and the centrally mounted gearbox 918 having a gearbox housing 922. The centrally mounted motor 916 comprises an output shaft 924 operably coupled to an input shaft (not shown) of the centrally mounted gearbox 918. The centrally mounted gearbox 918 comprises a gearbox output flange or surface 926. The gearbox output flange 926 is centrally mounted and fixed to the lower stage 900, and the gearbox housing 922 is fixed to the base stage 102. The base stage 102 has a rotation axis coaxial with the center of the lower stage 900.

[0060]

[0069] In this example, the base stage 102 is as described in relation to the previous example and is configured to support the first link mechanism 110, the second link mechanism 112, and the third link mechanism 114. However, it should be understood that in other embodiments, other link configurations may be used instead of the link mechanism configuration described herein, which has a specific combination of rotary and spherical joints.

[0061]

[0070] During operation, when driven, the output shaft 924 of the centrally mounted motor 916 rotates in response to the input control signal. Since the gearbox output flange 926 is fixed to the lower stage and does not rotate freely, the motor housing 920 and gearbox housing 922, fixed to the rotary base stage 102 which rotates freely as facilitated by the circumferential support rails and carriages 906, 908, all rotate together relative to the lower stage 900. The more direct drive path between the centrally mounted motor 916 and the base stage 102 allows the centrally mounted motor 916 to apply yaw torque to the base stage 102 with improved rigidity compared to the previous example.

[0062]

[0071] In the example above, the peripheral side wall 902 extends away from the lower stage 900 to provide space between the lower stage 900 and the base stage 102, and this space can be conveniently used for arranging electrical cables, etc. However, the installation of the peripheral side wall 902 is optional, and the circumferential support rail 906 can be fixed around the lower stage 900 if such additional space between the lower stage 900 and the base stage 102 is not required.

[0063]

[0072] As in the example above, the lower stage 900 can optionally be attached to a translational stage system that is capable of linearly translating in two substantially vertical directions to provide surge or sway.

[0064]

[0073] Referring to Figure 4, the first motor 172 is operably coupled in this example to the first output of the power drive unit 200 via the wiring room 202. Similarly, the second and third motors 174 and 176 are operably coupled to the second and third outputs of the power drive unit 200, respectively, via the wiring room 202. When implemented for rotational motion (yaw) around the heave axis, the yaw table motor and gearbox unit 192 are operably coupled to the power drive unit 200 via, for example, the wiring room 202.

[0065]

[0074] Referring to Figures 1 and 4, the motion platform device 100 in this example includes a first pair of configurable pneumatic supports 204 operably coupled to a first lower control arm 116 via a first pair of four-bar linkage components 178 located on either side of a first gearbox 130. Each of the four-bar linkage components of the first pair of four-bar linkage components 178 is coupled to a first hinge joint 180 of the first lower control arm 116, which is positioned eccentrically with respect to a first rotary joint 132. The motion platform device 100 also includes a second pair of configurable pneumatic supports 206 and a third pair of configurable pneumatic supports 208. The second pair of pneumatic supports 206 are coupled to a second lower control arm 148 via a second pair of four-bar linkage components 182 located on either side of a second gearbox 154. Each of the four-bar linkage components of the second pair of four-bar linkage components 182 is coupled to a second hinge joint 184 of the second lower control arm 148, which is positioned eccentrically with respect to the third rotary joint 156. The third pair of pneumatic supports 208 is coupled to the third lower control arm 160 via each of the third pair of four-bar linkage components 186 located on either side of the third gearbox 166. Each of the four-bar linkage components of the third pair of four-bar linkage components 186 is coupled to a third hinge joint 188 of the third lower control arm 160, which is positioned eccentrically with respect to the fifth rotary joint 168.

[0066]

[0075] The first, second, and third link mechanisms 110, 112, and 114 each comprise a base stage end and a payload platform end distal to the base stage end, and the first, second, and third pneumatic supports 204, 206, and 208 are coupled to the first, second, and third link mechanisms 110, 112, and 114 at their base stage ends, respectively.

[0067]

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

[0068]

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

[0069]

[0078] When the first, second, and third pneumatic supports 204, 206, and 208 are used, the power drive unit 200 is also operably coupled to the first pneumatic expansion unit 210, the second pneumatic expansion unit 212, and the third pneumatic expansion unit 214 via the wiring room 202, and the first, second, and third pneumatic expansion units 210, 212, and 214 are operably coupled to the first, second, and third pairs of pneumatic supports 204, 206, and 208, respectively. The first, second, and third pneumatic expansion units 210, 212, and 214 each include a first pneumatic reservoir 216, a second pneumatic reservoir 218, and a third pneumatic reservoir 220 for storing pneumatic fluid. In this example, the first, second, and third pneumatic supports 204, 206, and 208 are air springs. In some examples, the air spring can be formed from a bellows structure. Naturally, as already mentioned above, in other examples a single pneumatic support can be used. In such examples, the first, second, and third pneumatic reservoirs 216, 218, and 230 can each serve a single pneumatic support used. In other examples, the use of a single pneumatic support or a pair of pneumatic supports for each lower control arm 116, 148, and 160 can share a common pneumatic reservoir or several common pneumatic reservoirs.

[0070]

[0079] In a further example, the vehicle simulator system may include a motion platform device 100 and optionally a base stage 102 rotatably mounted on a motion stage platform 190. The vehicle simulator system may also optionally include the surge-sway motion stage system described above.

[0071]

[0080] In either case, the power drive unit 200 is operably coupled to the processing resource 222 via the data bus 224. The processing resource 222 can be a standalone computing device that can be application-specific or programmed general-purpose computing device. In another example, the processing resource 222 can be a distributed system, in which case the processing capacity can be distributed across two or more processing units optionally located in different locations. In this example, the processing resource 222 is a server rack running software that implements a vehicle simulator system. Any suitable operating system, for example, Linux® or Windows®, can be used.

[0072]

[0081] The processing resource 222 is operably coupled to a storage device 226 or a bank of storage devices, which can be a data store, for example, a hard drive, digital memory, or any combination thereof. The storage device 226 stores configuration data for one or more vehicles to be simulated, including, for example, the performance and / or handling characteristics of the vehicles to be simulated. The storage device 226 may also store data for one or more driving terrains, including visual data, geospatial data, and data that enables rendering of the view from the simulator cockpit. In this regard, it should be understood that the simulator cockpit is located on the payload platform 134 of the vehicle simulator system. Those skilled in the art will understand that the storage device 226 may store other data, but the contents of the storage device 226 will not be described in further detail, as the types of data to be stored are not central to understanding the examples described herein.

[0073]

[0082] The processing resource 222 is operably coupled to the display driver system 228, which is operably coupled to a display output system 230 for projection of the simulation environment, such as a projector and a panoramic screen, which is positioned within the driver's field of view when it is located on the payload platform 134 as part of the vehicle simulator system. In this example, the display driver unit 228 is also operably coupled to cockpit equipment 232, such as a graphical dash panel display and side and rearview mirror simulator displays (not shown).

[0074]

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

[0075]

[0084] Referring to Figure 5, during operation, the motion platform device 100, including the control system of Figure 4, is powered on (step 300), and the software for controlling the motion platform device 100 is started and initialized (step 302). The driver can enter the cockpit located on the payload platform 134 before or after the software is powered on and initialized (steps 300 and 302). Once the software is initialized (step 302), the driver can begin operating the driving simulation system as a driver. In other examples, the simulated vehicle may be driven by the simulation system, for example, to experience a playback of a previously recorded driving sequence, to be driven by an autonomous driving controller, and / or by a passive human occupant who is in the cockpit for the duration of the simulation to conduct research on the human perception of different motions. However, in this example, the control system is configured to take input from actions performed by the driver (step 304), so as to be provided via input devices such as a simulator pedal unit 238, a simulator gear shifter 240, and a simulator steering wheel 242. Upon receiving one or more inputs via the input processing unit 236, the processing resource 222 calculates a response regarding the control of the motion platform device 100 (step 306), and then provides control commands to the power drive unit 200 for the response to be carried out by the first link mechanism 110, the second link mechanism 112, and / or the third link mechanism 114, the rotatable base stage 102, and / or the first pair of pneumatic supports 204, the second pair of pneumatic supports 206, and / or the third pair of pneumatic supports 208 (step 308). Further details of the calculation and operation of the response are described below with reference to Figure 6.

[0076]

[0085] Following the execution of the response, the processing resource 222 determines whether a command to terminate the simulation has been received (step 310). If no termination command has been received, the processing resource 222 continues to execute the above steps until a command to terminate the simulation is received (steps 304 to 310), after which the processing resource 222 terminates the simulation.

[0077]

[0086] Although not described, those skilled in the art will understand that the processing resource 222 also manages and adjusts other outputs, for example, in the form of audible and visual responses. However, since these aspects are not central to understanding the operation of the motion platform device 100, they will not be described further in this specification for the sake of clarity and brevity.

[0078]

[0087] Next, we will move to Figure 6 to describe the operation of the first, second, and third linkage mechanisms 110, 112, and 114 and the rotatable base stage 102. For the sake of simplicity and clarity of explanation, and so as not to impair the distinctive aspects of the examples described herein, the operation will be described without reference to any use of the surge-sway motion stage system described above.

[0079]

[0088] As can be understood, the control of the first, second, and third linkage mechanisms 110, 112, and 114 and the rotation of the base stage 102 are independent. Therefore, the control of the linkage mechanisms 110, 112, and 114 and the base stage 102 is performed in parallel.

[0080]

[0089] With respect to linkage mechanisms 110, 112, and 114, based on the simulated vehicle model, processing resource 222 engages in several processing steps that ultimately result in the movement of the cockpit residing on the motion payload platform 134. For example, when the drive system actively interacts with the simulation system, before the movement reaches the stage of activating the electric motors to move the payload platform 134 in the desired manner, processing resource 222 determines the motion of the vehicle using the simulated vehicle's physical model and inputs from the driver and the simulated terrain. In this regard, the physical model provides a set of accelerations over time that describe the motion of the simulated vehicle. A motion cue filter (not shown) uses each set of accelerations output by the vehicle physical model to determine the set of accelerations provided by the motion platform device 100 so that the driver perceives the accelerations calculated by the physical model. Thus, processing resource 222 implementing the motion cue filter uses the aforementioned input devices and the simulated driving environment to calculate the three-degree-of-freedom movement that the cockpit must undergo to respond to the motion cues derived from the driver's input (step 400). Next, the processing resource 222 calculates the operation of one or more of the motors 172, 174, and 176 to achieve the corresponding movement required by one or more of the link mechanisms 110, 112, and 114, and thus the required cockpit motion (step 400). The processing resource 222 generates one or more control commands (step 402) and communicates one or more control commands to the power drive unit 200. The power drive unit 200 then sends operation control signals to one or more of the motors 172, 174, and 176 that need to move (step 404). Subsequently, in response to the operation control signals, the motors 172, 174, and 176 associated with each link mechanism 110, 112, and 114 are operated respectively (step 406).

[0081]

[0090] Depending on the motors 172, 174, 176 being operated and the direction of operation, the output shafts 133, 153, 167 of the first, second, and / or third gearboxes 130, 154, 166 rotate the first, second, and / or third lower control arms 116, 148, 160 respectively, thereby raising or lowering the linkage mechanisms 110, 112, 114 (step 408), and thus raising or lowering the respective peripheral upper and lower portions 136, 138, 140. As a further example relating to the first motor 172, the operation of the first gearbox 130 causes the first output shaft 133 of the first gearbox 130, which is constrained to rotational movement, to rotate clockwise or counterclockwise (depending on the commanded direction to the first motor 172), and as a result, the constraint of the rotary coupling 132 results in rotational motion of the first lower control arm 116 about the longitudinal axis of the first output shaft 133. The second and third motors 174, 176 can similarly influence such movement relative to the second and third linkage mechanisms 112, 114. Thus, as can be seen from the figure, the first, second, and third peripheral upper and lower parts 136, 138, 140 can be raised or lowered independently as required by the processing resources 222 under the control of the vehicle simulation software. In this regard, the raising and lowering of the first, second, and third upper and lower sections 136, 138, and 140, respectively, by the first, second, and third linkage mechanisms 110, 112, and 114 is selective. The movement of the first, second, and third linkage mechanisms 110, 112, and 114 to selectively raise and lower the first, second, and third peripheral upper and lower sections 136, 138, and 140 allows roll, pitch, and / or heave to be applied to a payload, such as a simulator cockpit, located on the payload platform 134.

[0082]

[0091] Naturally, those skilled in the art will understand that the above example, in which the lower control arms 116, 148, and 160 are fixed to the respective output shafts of the lateral motor / gearbox components, is not the only way to raise the lower control arms 116, 148, and 160. For example, the motor and gearbox components can be directly mounted to the lower control arms 116, 148, and 160, or in another example, a pushrod component can be employed, thereby allowing the motor and gearbox to act via linkage mechanisms attached to each of the lower control arms 116, 148, and 160 to form a bell crank component.

[0083]

[0092] In relation to yaw movement, the yaw movement is calculated based on the output of the physical model and motion cue filter in a similar manner to that described above for heave, roll, and / or pitch movement to obtain the required motion for the four degrees of freedom, which is then used, among other things, to calculate the required yaw movement (logical motion control) for the rotatable base stage 102 (step 410), which is provided as a stream of position requests delivered in real time to the power drive unit 200 regarding the work to be performed by the yaw table motor and gearbox unit 192 (step 412). The power drive unit 200 responds to the receipt of the yaw command by generating and transmitting a rotation actuation signal to the yaw table motor and gearbox unit 192 (step 414). The yaw table motor and gearbox unit 192, associated with the rotation of the base stage 102, are then actuated in response to the rotation actuation signal (step 416). When the yaw table motor and the motor of the gearbox unit 192 are activated in response to the rotational activation signal, the motor and the gearbox unit 192 rotate the base stage 102 in the manner required by the processing resource 222 (step 418). Thus, the payload platform 134, and therefore the cockpit supported by the payload platform 134, are subjected to the rotational movement applied to the base stage 102.

[0084]

[0093] Referring to Figure 7, the weight of the cockpit due to gravity must react in a continuous manner with the vertical force. Furthermore, the center of gravity of the cockpit (not shown) mounted on the payload platform 134 is rarely properly centered relative to the payload platform 134, which also causes roll and pitch moments that must react in a continuous manner. Thus, in this example, the amount by which the cockpit's center of gravity is offset relative to the payload platform 134 is measured and stored in the memory device 226 before operation. Other implementations are possible and will be discussed later in this specification.

[0085]

[0094] Therefore, once the simulation software is initialized (step 302), part of the initialization process includes, in this example, the processing resource 222 retrieving user-defined environment settings, including offset information, stored in the memory device 226 (step 500). In this regard, the processing resource 222 assists the environment setter 246 in this example, which retrieves user-defined environment settings to compensate for the cockpit weight and the offset center of gravity of the cockpit due to gravity with appropriate restoring vertical force, roll moment, and pitch moment, and calculates the forces that the first, second, and third pneumatic supports 204, 206, and 208 must exert (step 502).

[0086]

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

[0087]

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

[0088]

[0097] In this example, the forces applied by the first, second, and third pneumatic supports 204, 206, and 208 are calculated and applied once throughout the entire operation of the motion platform device 100, according to user-defined environmental settings. The calculated forces can be calculated manually or automatically at the start of the device 100. Furthermore, in this example, the settings for the first, second, and / or third pneumatic supports 204, 206, and 208 are automatic, but the manually or automatically calculated forces can be applied through manual settings of the first, second, and / or third pneumatic supports 204, 206, and 208. In another example, the forces applied by the first, second, and third pneumatic supports 204, 206, and 208 can be automatically calculated and dynamically changed during the operation of the motion platform device 100.

[0089]

[0098] Referring to Figure 8 in this regard, the processing resource 222 then calculates the applied support forces that need to be applied by the first, second, and third pneumatic supports 204, 206, 208 to compensate for the cockpit weight and cockpit offset center of gravity due to gravity with the current extensions of the first, second, and third link mechanisms 110, 112, 114, and thus with appropriate restoring vertical force, roll moment, and pitch moment (step 600). The calculated forces are then compared with the forces currently applied by the first, second, and third pneumatic supports 204, 206, 208 (step 602). A predetermined threshold is set before operation with respect to the deviation of the forces applied by the first, second, and third link mechanisms 110, 112, 114 from the forces currently applied by the first, second, and third pneumatic supports 204, 206, 208. If the deviation is not greater than a predetermined threshold (step 604), the processing resource 222 continuously calculates the vertical force as well as the pitch and roll moments and determines whether the forces applied by the first, second, and third pneumatic supports 204, 206, and 208 need to be adjusted (steps 600 to 604). However, if the deviation is greater than a predetermined threshold (step 604), the processing resource 222 adjusts the forces applied by the first, second, and third pneumatic supports 204, 206, and 208 to the calculated current required level (step 600) (step 606). In this regard, as in the example above, the processing resource 222 instructs the power drive unit 200 to pressurize the first, second, and third pneumatic supports 204, 206, and 208 so that the calculated forces are applied to each of the first, second, and third pneumatic supports 204, 206, and 208. In response to a command from the processing resource 222, the power drive unit 200 transmits control signals to the first pneumatic expansion unit 210, the second pneumatic expansion unit 212, and the third pneumatic expansion unit 214 to inflate or deflate the first, second, and third pneumatic supports 204, 206, and 208, respectively.Subsequently, the processing resource 222 continues to calculate the vertical force as well as the roll and pitch moments and determines whether the forces applied by the first, second, and third pneumatic supports 204, 206, and 208 need to be adjusted (steps 600 to 604).

[0090]

[0099] Those skilled in the art will understand that the embodiments described above are merely examples of various embodiments conceivable within the scope of the appended claims. In this regard, the above examples assume that each pneumatic support 204, 206, 208 (which can be deployed as a pair for each lower control arm or as a single support for each lower control arm) has its respective pneumatic reservoir 216, 218, 220 associated with each lower support arm 116, 148, 160, but other ways of serving the pneumatic supports 204, 206, 208 are possible depending on how they are used. For example, if the pneumatic supports 204, 206, 208 are set up at startup before use, each of the pneumatic reservoirs 216, 218, 220 of the pneumatic supports 204, 206, 208 can be connected to a single pneumatic inflation unit via a three-way valve. In another example, a common reservoir can be shared by pneumatic supports 204, 206, and 208, and the inflation of each pneumatic support 204, 206, and 208 is provided by their respective pneumatic inflation units 210, 212, and 214. In yet another example, each pneumatic support 204, 206, and 208 may be supplied by their respective compressed air sources without using the associated reservoir.

[0091]

[0100] While the above example illustrates vehicle simulation, it is important to understand that it is not necessary to simulate all aspects of a vehicle, and vehicle simulation may relate to one or more performance aspects of a vehicle. Furthermore, the motion platform device 100 is not intended for exclusive use in land vehicle simulation, but could be used for other applications, such as amphibious vehicles or aircraft, or any application where it is desirable to actually impart motion to a human occupant.

[0092]

[0101] In the examples provided herein, any reference to the position of an element, such as upper or lower or above or below, is made in the context of the position of the element relative to the ground. However, those skilled in the art should understand that such ground-based terminology is not intended to be limiting and can be appropriately adjusted when it is possible to orient the element differently from the ground.

Claims

1. A vehicle simulation motion platform device, A payload platform having surrounding upper and lower sections, A base stage with peripheral fixing parts, A link mechanism configured to connect the aforementioned peripheral fixing portion to the aforementioned peripheral upper and lower portions, wherein the link mechanism comprises a first link mechanism and Equipped with, The first link mechanism comprises a first arm, and the first arm is operably connected to a second arm at a first end by a spherical joint at the first end of the second arm. The first arm is movably connected at its second end to the fixing portion of the peripheral fixing portion by a first rotary joint, The second arm is movably connected at its second end to the upper and lower portions of the surrounding upper and lower portions by a second rotary joint. The vehicle simulation motion platform device, A drive system including a motor operably coupled to a pair of gearbox components, Furthermore, The paired gearbox components are A drive shaft extending between a first side gearbox located at the first side end of the first arm and a second side gearbox located at the second side end of the first arm, including, Vehicle simulation motion platform device.

2. The vehicle simulation motion platform device according to claim 1, wherein the first arm is a first fork.

3. The vehicle simulation motion platform device according to claim 2, wherein the second arm is a second fork.

4. The vehicle simulation motion platform device according to claim 3, wherein the first fork is operably coupled to the second fork at each neck end of the first fork.

5. The vehicle simulation motion platform device according to claim 3 or 4, wherein the first fork is a first wishbone and the second fork is a second wishbone.

6. The vehicle simulation motion platform device according to claim 1, wherein the first link mechanism is configured to selectively raise the upper and lower portions.

7. The vehicle simulation motion platform device according to claim 6, further comprising an actuator configured to move the first link mechanism over a range of extension.

8. The vehicle simulation motion platform device according to claim 7, wherein the actuator is operably coupled to the tip of the first fork.

9. The link mechanism further comprises a second link mechanism. The second link mechanism comprises a third arm, the third arm being operably coupled at its first end to a fourth arm at its first end, and the third arm being operably coupled at its second end to another fixing portion of the peripheral fixing portion. The vehicle simulation motion platform device according to any one of claims 1 to 8, wherein the fourth arm is operably coupled at its second end to another upper and lower portion of the peripheral upper and lower portion.

10. The link mechanism further comprises a third link mechanism, The third link mechanism comprises a fifth arm, the fifth arm being operably coupled at its first end to a sixth arm at its first end, and the fifth arm being operably coupled at its second end to another fixing part of the peripheral fixing part. The vehicle simulation motion platform device according to claim 9, wherein the sixth arm is operably coupled at its second end to another upper and lower portion of the peripheral upper and lower portion.

11. The vehicle simulation motion platform device according to any one of claims 1 to 10, further comprising a turntable having the base stage.

12. The vehicle simulation motion platform device further comprises two translational stages capable of linear translation in substantially vertical directions, The vehicle simulation motion platform device according to any one of claims 1 to 11, wherein the vehicle simulation motion platform device is operably coupled to the translation stage.

13. A vehicle simulator system comprising a vehicle simulation motion platform device according to any one of claims 1 to 12.

14. A display positioned within the field of view, Processing resources operably coupled to the display and the vehicle simulation motion platform device Furthermore, The vehicle simulator system according to claim 13, wherein the processing resources control the operation of the vehicle simulation motion platform device, thereby simulating the performance aspects of the vehicle.

15. A method for displacing the payload platform of a vehicle simulator, The steps include connecting the first end of the first arm to the first end of the second arm by a spherical joint, The steps include connecting the second end of the first arm to a peripheral fixing portion of the base stage by a first rotary joint, The steps include connecting the second end of the second arm to the upper and lower periphery of the payload platform by a second rotary joint, A computing device selectively operates the coupled first arm and second arm, and raises the peripheral upper and lower portions using a drive system that includes motors operably coupled to a pair of gearbox components. Includes, The paired gearbox components are A drive shaft extending between a first side gearbox located at the first side end of the first arm and a second side gearbox located at the second side end of the first arm, including, method.

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