Driving simulator

Abstract

The present invention relates to a displacement device (2) comprising a support surface (16), a central axis (11) extending transversely with respect to the support surface, and three arms (3, 4, 5), each having a central end rotatably connected to the central axis (11). The circumferential ends (13, 14, 15) of the arms are movably supported on the support surface (16). Each arm supports a radial displacement member (31, 32, 33) movable along each arm in a radial direction, and the displacement member is fixedly connected to a mounting frame (30). An actuator (22, 23, 24, 75, 120-125) rotates the arm around the central axis so that the displacement member (31, 32, 33) moves along each arm and the mounting frame moves.

Description

Technology Field

[0001] The present disclosure relates to a displacement device for translational motion of an object in a plane and rotational motion about an axis perpendicular to the plane. The present disclosure also relates to an actuator for use in a displacement device and a method for determining the position of an object in a plane. Background Technology

[0002] Traditional Vehicle Driving Simulators (VDS) are based on flight simulators that use a hexapod structure with a 6-degree-of-freedom (6-DOF) motion system. An example is the Ferrari Formula 1 "Spider" simulator. Such simulators require tall simulator buildings and have limited bandwidth due to restricted longitudinal and lateral movement, excessive pitch, roll, and vertical stroke, and long-stroke actuators.

[0003] Another disadvantage of the large hexapod structure is that an angle or excursion in one DOF excludes a large excursion or angle in another DOF.

[0004] The trend of VDS is to separate long-stroke movements, such as longitudinal, transverse, and yaw, from short-stroke movements, such as heave, pitch, and roll.

[0005] A driving simulator platform is known for surge and sway motions having a large motion envelope. The known platform includes a vertical track supporting a wheel-based carriage. The track and carriage are driven by electric motors. A hexapod is mounted on an XY system, and the entire system is equipped with a turntable below or above the hexapod to provide additional yaw without negatively affecting other deviations of the hexapod.

[0006] Because the announced XY system is statically overdetermined, it requires that the large structure be assembled with great precision to prevent premature failure of bearings and force fights, for example, rails mounted on the floor of a building need to be parallel within a tolerance of a few millimeters.

[0007] In milling machines, very high production accuracy is required by definition, and therefore, overdetermined positioning mechanisms do not significantly add to costs. However, in simulators, milling machine precision is not required for positioning accuracy. The position of the simulator cabin is relatively unimportant and is not perceived by the pilot / driver.

[0008] The most important aspect of a driving simulator is that the motion system must not generate audible noise or acceleration noise exceeding perceptible thresholds. It should generate only the vibrations of the actual vehicle, which are part of the setpoint signal driving the motion system. The mechanism of the motion system must also not induce unwanted vibrations. An unoverdetermined motion system is the best option for combining low cost, long lifespan, low acceleration, and audible noise.

[0009] WO 2019 / 211474 discloses a driving simulator having a fixed base platform having a flat support surface. A movable platform is supported on the surface via air bearings and hold-down magnets. The platform can be translated in the X and Y directions and can be rotated about a vertical Z-axis by a cable wound around the circular circumference of the platform. Each cable is coupled to an actuator, such as a winch, which is driven in a reciprocal manner to displace the platform across the support surface and rotate the platform about the Z-axis, while maintaining a desired tension on the drive cable. On the top of the movable platform, a hexapod structure is positioned for displacement in three different degrees of freedom (pitch, roll, and heave) and to provide high-frequency components in X, Y, and yaw.

[0010] An alternative to the above system having similar features is described in WO 2020 / 216476.

[0011] Each of the two aforementioned movement systems utilizes a hexapod for all high-frequency movements, whether on rough surfaces or in the case of racing cars, characterized by limited pitch and roll angles, vertical movement, and a very fast response to driver steering input. In both systems, the subsystem significantly enhances the longitudinal and lateral stroke and yaw capabilities of the hexapod, but there is no infinite yaw capability. Infinite yaw capability can be useful for slow "washouts" below the driver's perceived level of initial yaw input.

[0012] The transverse, longitudinal, or yaw setpoint signals are usually filtered, and by doing so, the subsystem executes the low-frequency component of the large stroke, and the hexapod system executes the high-frequency component of the short stroke.

[0013] An alternative to the system according to WO 2020 / 216476, which features infinite capacity, is shown in WO 2020 / 249262.

[0014] However, each of the three above-mentioned systems has significant disadvantages. The design of WO 2019 / 211474 requires expensive precision machined floors, expensive air bearings, and "hold down" magnets.

[0015] Each of the two designs described in WOO2020 / 249262 and WO 2020 / 216476 causes the lower platform (base) of the hexapod to cantilever out of the center of the ground frame when there is an extreme X or Y deviation, which can significantly reduce high-frequency performance.

[0016] The system according to WO2020 / 216476 is shown in FIG. 7 in a fully surged (longitudinal) backward position. The two rearward supports between the floor-mounted guide rail and the hexapod lower frame are too close laterally to provide a rigid foundation to the hexapod lower frame, which particularly affects the rigidity for roll movement of the cockpit.

[0017] The system according to WO2020 / 249262 is shown in FIG. 5 in a fully surged reverse position, in which the hexapod base frame cantileveres out of the floor-frame center. The two rearmost actuators of the hexapod are not well supported, and this particularly affects the rigidity for heave movement of the cockpit. The problem to be solved

[0018] The object of the present invention is to provide a compact displacement device, in particular a driving simulator, having a simple structure and limited height, having longitudinal, transverse, and yaw degrees of freedom (DOF) without requiring precision machining or alignment of large components. The object of the present invention is to provide a displacement device that can be equipped with a hexapod or an equivalent system and does not have the problems of the prior art solution as described herein. The object of the present invention is to further provide a system capable of also providing infinite yaw. means of solving the problem

[0019] To this end, the displacement device according to the present disclosure comprises the following:

[0020] Three arms connected to each other, wherein the central axis extending perpendicularly to the support surface, and the central end thereof is rotatable about a proximal axis located on or near the central axis, and the circumferential end thereof is movably supported on the support surface.

[0021] Each arm member supporting a radial displacement member movable along each arm in a radial direction - the displacement member is rotatably connected to a mounting frame - and

[0022] An actuator adapted to rotate the arms around a central axis so that the displacement member can move radially along each arm, thereby moving the mounting frame.

[0023] By rotating the arm by a set angle, the mounting frame can be moved quickly and accurately in the xy direction across the support surface. The rotation of the arm causes radial translation of the displacement member along the arm and translation and / or yaw of the mounting frame. The present invention has a large motion envelope and causes easy and robust control of yaw and XY displacement without the noise and wear typical of overdetermined mechanisms, as well as a simple structure.

[0024] The arm is connected at its central end to a respective hub and is pivotable about a proximal axis located at a certain distance from the central axis. The arm can also be connected to a central hub in such a state that its proximal axis, located on the central axis, is rotatable about the central axis.

[0025] For rapid and accurate positioning, each arm can be driven by an actuator, for example, a linear motor of a straight or circular shape.

[0026] A displacement device according to the present disclosure may include a vehicle driving simulator having a moving mechanism having 1 to 6 degrees of freedom, such as a hexapod mechanism connected to a mounting frame, and a driver cabin supported on the moving mechanism. A large displacement envelope and low levels of unwanted noise and vibration transmitted to the cabin provide accurate simulation of a wide variety of driving conditions.

[0027] In simulator applications, the visual screen is mounted on the top of the hexapod and can move with the vehicle cockpit. The visual screen can also be installed on a support surface (fixed screen) or mounted on a triangular mounting frame (semi-movable screen).

[0028] In one embodiment, each arm includes a tangential damping member protruding tangentially from the arm, so that when the arm rotates about a central axis, the damping members of adjacent arms come into contact when a predetermined minimum angle is contained between adjacent arms.

[0029] During normal operation, the damping members will not come into contact, but under error conditions, they prevent damage to the displacement system when the distance between adjacent arms exceeds a safety threshold.

[0030] The predetermined minimum angle between the two arms is equal to the angle enclosed by two damping members on one arm and can be between 60 and 100 degrees, preferably between 70 and 90 degrees, most preferably about 80 degrees. The system geometry is completely defined by these angles and the radius of the triangular mounting frame, on which a bearing is positioned, which determines the scale of the displacement device.

[0031] The radial displacement member may include a carriage that is slidably connected to a rail extending in the longitudinal direction of the arm.

[0032] The carriage can support a triangular mounting frame through a bearing whose cross-section in the plane of the central axis has a curved surface, and the bearing accommodates not only forces in the direction of the central axis but also tangential forces.

[0033] The bearing accommodates misalignment caused by the non-uniformity of the support surface on which the circumferential end of the arm is supported.

[0034] The arm may be supported by a wheel having a wheel axis that runs on a support surface at its circumferential end and extends in the direction of the central axis.

[0035] Alternatively, other support means such as air bearings or curved linear guiding are possible.

[0036] Each arm may include a transverse beam that supports a wheel on each end near its circumferential end. This provides stiff support for the arm and allows for precise rotation of the arm around a central axis.

[0037] Each arm may be connected to an actuator comprising a sliding member movable along a support member, and the sliding member is attached to the circumferential end of each arm via a pivotal push-pull rod.

[0038] The support member may be a linear support or have a circular shape and be concentric with the central axis. The actuator may be hydraulic, pneumatic, or electric.

[0039] In one embodiment, the actuator includes a linear motor in which the sliding member has an electric winding and the supporting member includes a permanent magnet. The linear motor provides response and precise displacement of the arm.

[0040] In one embodiment, the actuator includes at least one motor drive connected to the wheel to drive the wheel to rotate. One or more wheels may be connected to an electric motor that drives the wheel axle and rotates together with an arm around a central axis.

[0041] Each arm may be provided with a downward force member that applies a downward force to the arm near its circumferential end. The downward force member may be formed by an electromagnet that provides a downward force when magnetically attracted, where the supporting surface comprises a steel annular plate or a curved beam.

[0042] An actuator for use in a displacement device comprises two spaced L-shaped members having a support flange and mutually opposing transverse flanges supporting a plurality of permanent magnets, a generally U-shaped carrier whose side portion is slidably supported on the support flange and extends over the opposing transverse flanges, and a coil winding supported by a central portion of the carrier between the permanent magnets. The actuator can be easily produced at a relatively low cost.

[0043] A method for positioning an object in a plane includes the steps of determining the coordinates of the object at a target position within the plane and rotating each arm by an angle around a central axis corresponding to the target position. A computer can drive actuators with a simple control algorithm to provide setpoint angle positions to each arm. This brings the carriage on the arm to a corresponding radial position and translates and / or rotates the carrier frame to that desired position. A transformation algorithm converts the desired X, Y, and Yaw into three arm rotation setpoints. Brief explanation of the drawing

[0044] Some embodiments of the displacement device according to the present invention will be described in detail with reference to the accompanying drawings as a non-limiting example. In the drawings: FIG. 1 illustrates a perspective view of a displacement device according to the present invention located at a central position, in particular a driving simulator, and FIG. 2 illustrates the displacement device of FIG. 1 in a plan view, and FIG. 3 illustrates a cross-sectional view of a carriage supporting a triangular frame, and FIG. 4 shows a perspective view of the displacement device of FIG. 1 located at the forward end position on the Y-axis, and FIG. 5 shows a plan view of the displacement device of FIG. 4, and FIG. 6 shows a perspective view of the displacement device of FIG. 1 located at the rear end position on the Y-axis, and FIG. 7 shows a plan view of the displacement device of FIG. 6, and FIG. 8 shows a perspective view of the displacement device of FIG. 1 located at the left end position on the X-axis, and FIG. 9 shows a plan view of the displacement device of FIG. 8, and FIG. 10 shows a perspective view of the displacement device of FIG. 1 located at the right end position on the X-axis, and FIG. 11 shows a plan view of the displacement device of FIG. 10, and FIG. 12 shows a perspective view of the displacement device of FIG. 1 at the center position at maximum yaw, and FIG. 13 shows a plan view of the displacement device of FIG. 12, and FIG. 14 illustrates a plan view of an arm of a displacement device according to the present disclosure, and FIG. 15 shows a cross-sectional view of the arm of FIG. 14 along line AA, and FIG. 16 illustrates a circumferential side view of the arm of FIG. 14, and FIG. 17 illustrates a radial side view of the arm of FIG. 14, and FIG. 18 shows a perspective view of the arm of FIG. 14, and FIG. 19 illustrates a side view of an actuator including a slider and a support, and FIG. 20 shows a plan view of the actuator of FIG. 19, and FIG. 21 illustrates a cross-sectional view of an actuator including a linear motor, and FIG. 22 illustrates a cross-sectional view of a linear motor having a central cooling channel, and FIG. 23 shows a perspective view of the linear motor of FIG. 22, and FIG. 24 shows a perspective view of an embodiment of a linear motor having permanent magnets along a circular track, and FIG. 25 shows a plan view of an embodiment of FIG. 24, and FIG. 26 shows a detailed view of the linear motor of FIG. 24, and FIG. 27 illustrates an actuator including an electric motor drive, FIG. 28 shows a detailed view of the actuator of FIG. 27, and FIG. 29 illustrates a schematic diagram of a displacement device in which each arm is pivotable about each proximal axis near the central axis at its central end, and FIG. 30 illustrates a schematic diagram of a displacement device in which two arms are mounted on the flange of a first arm, and FIG. 31 illustrates a displacement device having a linear actuator including a toothed belt, and FIG. 32 illustrates details of the actuator of FIG. 31, and FIG. 33 illustrates an embodiment of a driving simulator comprising a cockpit supported by a 3 DOF displacement system including a ball screw and a cardanic joint, and FIG. 34 illustrates a driving simulator including a spherical screen mounted on the frame of a displacement device, and FIG. 35 illustrates an actuator including an axial flux curve linear motor, and FIG. 36 illustrates the details of the double-sided coil unit of the actuator of FIG. 35, and FIG. 37 illustrates an actuator having a lamination stack for supporting the winding of a radial flux linear motor, and FIG. 38 shows details of an annular array for the permanent magnets of the actuator of FIG. 37. Specific details for implementing the invention

[0045] FIG. 1 illustrates a vehicle driving simulator (1) comprising a displacement device (2) having three arms (3, 4, 5). The arms (3-5) are connected to a central hub (10) at their ends (6, 7, 8) and are rotatable about a central axis (11). The circumferential ends (13, 14, 15) of the arms (3-5) are supported on a circular track (16) via wheel assemblies (18, 19, 20). Each arm is driven to rotate about the axis (11) by a linear actuator (22, 23, 24).

[0046] The triangular frame (30) is supported on the arms (3, 4, 5) via carriages (31, 32, 33) located at each corner of the frame (30). The carriages (31-33) can slide radially along rails on the arms (3-5). A hexapod structure (35) comprising three pairs of actuators (37, 38, 39), such as hydraulic cylinders or electromechanical actuators, is attached to the frame (30) and supports the driver cabin (40).

[0047] FIG. 2 illustrates a plan view of the driving simulator (1) of FIG. 1. Three arms (3, 4, 5) are each driven independently by their respective actuators (22, 23, 24) to provide angular rotation around the central axis (11). The combination of rotational positions of each arm (3-5) causes longitudinal displacement (x-direction), lateral displacement (y-direction), and yaw movement (rotation around the vertical axis) of the triangular lower frame (30). In FIG. 2, arm (3) extends forward along the X-axis, and arms (4 and 5) extend at an angle of 30 degrees to the Y-axis. The center of the frame (30) is located on the central axis (11).

[0048] FIG. 3 illustrates a cross-section of a carriage (31) supporting a frame (30). The carriage (31) can slide along the rail (42) along the length of the arm (3). The carriage (31) is connected to a corner of the frame (30) via a rotary bearing (43) having a vertical rotation axis that can support axial vertical loads and tangential loads and accommodate small misalignments resulting from limited flatness of the floor supporting the wheel assembly (18-20) or inaccuracies of the track (16).

[0049] FIGS. 4 and 5 illustrate the foremost positions of the triangular frame (30) and driver cabin (40) along the X-axis. The sliders (44, 46) of the linear actuators (23 and 24) are moved to their forward end positions, so that the arms (4 and 5) are rotated at an angle of about -10 degrees with respect to the Y-axis. The slider (48) of the actuator (22) is positioned at its midpoint. Each slider (44, 46, 48) is connected to the circumferential end (13, 14, 15) of each arm via a pivotable push-pull rod (45, 47, 49) to push or pull the arms (3-5) around the central axis (11).

[0050] If the track (16) is made of steel, electromagnets (50, 51) may be provided near each wheel of the wheel assembly (18, 19, 20) to provide a downward force on the wheel during movement along the track (16).

[0051] The arms (3, 4 and 5) are provided with sideways protruding bumper members (55, 56, 57) that limit the angle between adjacent arms. The bumper members include tangentially elastic end portions and meet to ensure that the angle between two adjacent arms does not become much smaller than 80 degrees (buffer angle). This buffer angle forms the main design parameter of the system and essentially defines the system geometry and the deviation limits in the X and Y directions. Another design parameter is the size or scale factor defined by the radius of the circle where the three corner bearings of the carriage (31, 32, 33) are located.

[0052] The required (radial) distance of the arms (3, 4, 5) is the result of the scale factor and the buffer angle. If the buffer angle becomes too small, the minimum distance between the center axis (11) and the carriage (31, 32, 33) (the smallest distance that can occur within the operating range defined by the buffer angle) becomes too small to be mechanically realized, or even becomes negative (meaning zero crossing, which is not possible by definition).

[0053] The actuators (22, 23, 24) are controlled in such a way that the bumper members (55, 56, 57) do not come into contact with each other under normal operating conditions.

[0054] FIGS. 6 and 7 illustrate a frame (30) and a driver cabin (40) in the rearmost position along the X-axis. The carriage (31) is moved along the arm (3) to a position near the center hub (10), while the carriages (32 and 33) are moved along the arms (4 and 5) in the direction of the circumferential ends (14, 15) of each arm. In these positions, the bumper members (56, 57) of the arms (4 and 5) come into contact.

[0055] FIGS. 8 and 9 illustrate a frame (30) and a driver cabin (40) located at the right transverse end position along the Y-axis. Arms (3 and 4) extend substantially opposite directions, and bumper members (55 and 57) or arms (3 and 5) come into contact.

[0056] FIGS. 10 and 11 illustrate a frame (30) and a driver cabin (40) located at the left transverse end position along the Y-axis. Arms (3 and 5) extend substantially opposite directions, and bumper members (55 and 56) or arms (3 and 4) come into contact.

[0057] FIGS. 12 and 13 illustrate a frame (30) and a driver cabin (40) in a maximum yaw position around a central axis (11). Sliders (44, 46, and 48) of actuators (22, 23, 24) are moved to their end positions. In the end section of each actuator, an elastic stopper (59, 60) is provided to absorb accidental impact of the slider (44, 46, 48) in the end position in the event of a control failure.

[0058] FIG. 14 illustrates an arm (3) in a plan view having a wheel assembly (18) at its circumferential end (13). The wheels (62, 63) are mounted on a cross beam (66). The axes (64, 65) of the wheels (62, 63) are angled with respect to the longitudinal direction of the arm (3) and intersect at the central axis (11).

[0059] As is clear from the cross-sectional view of FIG. 15, the carriage (31) is supported on two parallel rails (41, 42) through linear bearings (67, 68) which can be implemented as sliding bearings or bearings including rolling elements.

[0060] At the circumferential end (13), the arm (3) is provided with a flange plate (61) including an eye for connection to the push-pull rod (49) of the slider (48).

[0061] FIGS. 16, 17, and 18 illustrate a circumferential side view, a radial side view, and a perspective view of the arm (3), respectively. Electromagnets (52, 54) are positioned close to the wheels (62, 63) to prevent vertical movement of the wheel when rolling along the track (16) under an upward load.

[0062] Regardless of the longitudinal, transverse, and yaw positions of the triangular mounting frame, and the corresponding positions and arm angles of the carriage, each corner point of the mounting frame (30) is adequately supported by two wheels (62, 63) and a center hub (10). The center of the lower frame (30) is always well positioned within the circle defined by the wheels. The radial position of the cross beam (66) on which the wheels are mounted is optimized to provide the maximum possible vertical stiffness along the full range of motion of the carriage on the rail.

[0063] The system according to the present disclosure can be implemented in a number of ways. In a cost-saving version, commercially available PU-sleeved steel wheels can run directly on a sufficiently flat, high-quality concrete floor. Three arms are driven by linear actuators, that is, by push-pull rods. The linear actuators may include linear motors as shown in FIGS. 19 through 23, but may also include commercially available toothed belt actuators.

[0064] Alternatively, the steel plate can be mounted on a concrete floor in combination with a hardened steel wheel that can run on the plate.

[0065] In cases where it is necessary to handle not only upward force but also downward force, each wheel is equipped with an adjacent electromagnet to provide an attraction force that amplifies gravity.

[0066] Rubber sleeve type friction wheels can also be used on steel plates, in which case the rubber wheels are driven by electric motors. Each of the six wheels is equipped with a corresponding motor. Due to the limited slip occurring between the friction wheel and the surface of the steel plate, the absolute position of the motor rotation (multi-turn encoder) cannot indicate the arm position; therefore, in this version, an absolute measurement system needs to be provided on each arm. This version can provide infinite rotation at a relatively low cost. If it is necessary to increase the contact force between the friction wheel and the steel plate, each wheel is equipped with an adjacent controlled electromagnet to provide an attractive force that amplifies gravity.

[0067] The linear actuators driving each arm can be implemented as straight or curved motors. In the latter case, the three arms can be driven by short push-pull rods.

[0068] FIGS. 19 through 23 illustrate a linear motor (75) having two L-shaped flanges (76, 77) that support permanent magnets (78, 79). A housing (81) that supports independent back-to-back coil units having windings (82, 83) sharing a common stacking stack is slidably connected to rails (87, 88) mounted on flanges (76, 77) via slide bearings (84, 85). By supplying power to the magnetic coils (82, 83), the housing (81) is moved in a direction perpendicular to the plane of the drawing. The housing (81) is connected to an arm of a displacement device via a push-pull rod (not shown in the drawing).

[0069] In FIG. 22, the cooling channels (90, 91) are shown as a stacked stack to circulate coolant through the cores of the windings (82, 83).

[0070] FIG. 23 illustrates a linear motor (75) having a housing (75) that is slidable along flanges (76, 77) that support windings (82, 83) and permanent magnets (78, 79).

[0071] FIGS. 24 and 25 illustrate a vehicle driving simulator (1) having a displacement device (2) having a circular set of permanent magnets (100), movable housings (103, 104, 105) that support windings respectively, and push-pull rods (102, 106, 107) connected to the circumferential ends of arms (3, 4, 5). In this design, there are low-precision parts (three arms moving on a low-precision surface) and high-precision parts (curved linear motors). It is possible to increase the precision of the three arms and the support surface, directly connect the curved coil unit to the outer end of each arm, and omit the curved guiding rail of the curved linear motor.

[0072] FIG. 26 illustrates an arm (3) connected to an actuator having a circular fixed permanent magnet (100, 108), a movable housing (103) supporting a winding (110) as a slider, and a short push-pull rod (102) connected to a flange plate (61) of the arm (3).

[0073] FIG. 27 illustrates a wheel assembly (18, 19, 20) having a rubber friction wheel and an electric motor drive (120, 121, 122, 123, 124, 125), with one drive connected to each wheel of the assembly (18-20).

[0074] FIG. 28 illustrates a wheel (63, 64) on an enlarged scale and a connected electric motor (120, 125).

[0075] FIG. 29 illustrates an embodiment in which arms (3, 4, 5) are mounted on respective hubs and pivotable around respective proximal axes (130, 131, and 132) located near the central axis (11). This structure has limited yaw capability.

[0076] FIG. 30 illustrates an embodiment in which the proximal axes (141, 142) of arms (4, 5) are positioned on the flanges (143, 144) of arms (3). Arms (3) can rotate about a central axis (11). This configuration is similar to the configuration of the connecting rod of a radial engine and provides infinite yaw capability.

[0077] FIG. 31 illustrates a driving simulator (1) in which linear actuators (22, 23 and 24) are each formed by a straight rail section (150) that supports a toothed belt (151) driven by an electric motor (152). A slider (153) is moved along the support section (150) by the belt (151) and connected to the end portions of each arm (3, 4, 5) via a push-pull rod (155).

[0078] The 3 DOF secondary motion system in this embodiment includes three ball screw actuators (160, 161) connected to the cockpit or driver cabin (40) and supported on the frame (30) via a cardan joint (162) (see FIG. 33).

[0079] Two rods (165, 166) pivotally connect the cabin (40) to support posts (167, 168) on the frame (30). The lateral side (169) of the cabin (40) is connected to the posts (167, 168) via a Watt linkage (170) that maintains the controlled vertical motion of the cabin without lateral displacement.

[0080] FIG. 32 illustrates in more detail a toothed belt (151) that drives a slider (153) along two tracks (157, 158) on a support section (150).

[0081] FIG. 33 illustrates three ball screw actuators (160, 161, 164) and a cardan joint (162) in more detail.

[0082] FIG. 34 illustrates a driving simulator (1) having a spherical screen (175) supported on a frame (30). The frame (30) is driven by a direct-drive curved linear motor having permanent magnets (100) arranged along a circular track having, for example, a diameter of 12 m. From the cockpit (40), a realistic optical view of the simulated driving environment is observed by the driver on the screen (175).

[0083] FIG. 35 illustrates an actuator for driving an arm (3) comprising an axial flux motor having a ring of permanent magnets (181, 182) supported on the top and bottom of a disk-shaped magnet carrier (183). A coil supported by a cross beam (66) is schematically denoted as 180 and is oriented substantially parallel to the supporting surface of the wheel (62, 63) to generate an axial flux in a direction perpendicular to the supporting surface.

[0084] FIG. 36 illustrates the arrangement of coils (180 and 185) on each side of the magnet carrier (183), which has been omitted from the drawing.

[0085] FIG. 37 illustrates an arrangement of a direct drive curved linear radial flux motor in which a stacked stack element (187) is mounted on the cross beam (66) of an arm (3). A coil not shown in the drawing is wound around the stacked core protrusion of the element (187) and generates magnetic flux in the radial direction of the arm (3).

[0086] FIG. 38 illustrates the arrangement of permanent magnets (191, 192) on the ring (100) of a radial flux motor.

Claims

Claim 1 As a displacement device (2), - a support surface (16), a central axis (11) extending perpendicularly to the support surface, and three arms (3, 4, 5) connected to each other such that the central ends (6, 7, 8) are rotatably oriented around a proximal axis (130, 131, 132, 140, 141) located on or near the central axis (11) and the circumferential ends (13, 14, 15) are movably supported on the support surface (16), - each arm (3, 4, 5) supporting a radial displacement member (31, 32, 33) movable along each arm in a radial direction, - the displacement member is rotatably connected to a mounting frame (30), and - the central axis (11) is such that the displacement member (31, 32, 33) can move radially along each arm so that the mounting frame (30) is moved by it. A displacement device comprising an actuator (22, 23, 24, 75, 120-125) adapted to rotate the above arm (3, 4, 5) around the center. Claim 2 A displacement device according to claim 1, wherein the proximal axis of all the arms is located on the central axis (11), and the arms are connected to the central hub (10). Claim 3 A displacement device according to claim 1 or 2, comprising a driving simulator (1) having a moving mechanism (35) having 1 to 6 degrees of freedom connected to the mounting frame (30) and a driver cabin (40) supported by the moving mechanism (35). Claim 4 A displacement device according to any one of claims 1 to 3, wherein each arm (3, 4, 5) includes a tangential damping member (55, 56, 57) protruding from the arm in a tangential direction, and thus, when the arm is rotated about the central axis (11), the damping member of the adjacent arm comes into contact when a predetermined minimum angle is contained between the adjacent arms. Claim 5 A displacement device according to claim 4, wherein the predetermined minimum angle is between 60 and 100 degrees, preferably between 70 and 90 degrees, most preferably about 80 degrees. Claim 6 A displacement device according to any one of claims 1 to 5, wherein the radial displacement member (31, 32, 33) comprises a carriage slidably connected to a rail (41, 42) extending in the longitudinal direction of the arm (3, 4, 5). Claim 7 In claim 6, the carriage supports the mounting frame (30) through a bearing (43) having a curved cross-section in the plane of the central axis (11), and the bearing (43) absorbs forces in the direction of the central axis and tangential forces and accommodates misalignment angles, a displacement device. Claim 8 A displacement device according to any one of claims 1 to 7, wherein the arm (3, 4, 5) is supported by a wheel traveling on the support surface (16) at its circumferential end (13, 14, 15) and has a wheel shaft (64, 65) extending in the direction of the central axis (11). Claim 9 A displacement device according to claim 8, wherein each arm comprises a transverse beam (66) that supports a wheel (62, 63) on each end near its circumferential end (13, 14, 15). Claim 10 A displacement device according to any one of claims 1 to 9, wherein each arm (3, 4, 5) is connected to an actuator (22, 23, 24) comprising a sliding member (44, 46, 48, 81, 153) movable along a support member (76, 77, 150), and said sliding member is attached to a circumferential end (13, 14, 15) of each arm via a pivot actuator rod (45, 47, 49, 155). Claim 11 A displacement device according to any one of claims 1 to 10, comprising an electric winding (82, 83; 110; 180, 185) at the circumferential end of the arm (3, 4, 5), wherein the winding is located near a support member (76, 77) comprising a permanent magnet (78, 79; 100, 108; 181, 182; 191, 192) forming a curved linear motor. Claim 12 A displacement device according to claim 8 or 9, wherein the actuator comprises at least one motor drive (120, 121, 122, 123, 124, 125) connected to the wheel (63, 64) of each arm (3, 4, 5) to drive the wheel to rotate. Claim 13 A displacement device according to any one of claims 1 to 12, wherein each arm (3, 4, 5) comprises a downward force member (50-54) that applies a downward force on the arm (3, 4, 5) near its circumferential end (13, 14, 15). Claim 14 A displacement device comprising a curved screen (175) mounted on the frame (30) in any one of claims 1 to 13. Claim 15 A method for positioning an object on a plane, comprising the steps of: placing the object on a displacement device (2) according to any one of claims 1 to 14; determining the coordinates of the object at a target position within the plane; and rotating each arm (3, 4, 5) by an angle around the center axis (11) corresponding to the target position.

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