Motion platform and simulator using same

Abstract

This motion platform includes: a vibration mechanism; a base; and a movement mechanism for moving the base in a predetermined direction. The motion platform is characterized in that the movement mechanism has a guide member for the movement, and the guide member of the movement mechanism receives a reaction force due to operation of the vibration mechanism.

Description

Motion platform and simulator using the same

[0001] The present invention relates to a motion platform, for example, a motion platform for swinging a cockpit of a simulator.

[0002] As an example of a conventional simulator, for example, a driving simulator described in Patent Document 1 uses a motion platform (swinging device) to change the attitude of a simulated vehicle body relative to the road surface. By combining this change in the attitude of the simulated vehicle body (cockpit) relative to the road surface with an image displayed on a display, it is possible to simulate the situation in which a driver inside the simulated vehicle body is driving a car.

[0003] The vibration device of such a simulator includes, for example, a vibration mechanism having a plurality of actuators that exert a force in the axial direction by extending and retracting, a rotation mechanism that rotates the vibration mechanism, and a translation mechanism having two translation tables that moves the vibration mechanism in a linear direction and a linear direction perpendicular to the linear direction.The rotation mechanism and / or translation mechanism is disposed below the vibration mechanism to rotate and translate the vibration mechanism.

[0004] Chinese Patent Publication No. 116612675

[0005] However, in Patent Document 1, the base end of the actuator of the vibration mechanism is attached to a base, and when the axial force of the actuator acts on the simulated vehicle body, a reaction force acts on the base of the vibration mechanism. At this time, there are no components of the translation mechanism below the vibration mechanism in the direction of the acting reaction force. In this case, the moment caused by the reaction force makes the simulator unstable, and in the worst case, the simulator may tip over.

[0006] SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a motion platform and simulator that can stabilize the motion platform regardless of the action of the reaction force of the actuators on the motion platform.

[0007] In order to solve the above problem, a motion platform is provided, comprising a vibration mechanism, a base, and a moving mechanism for moving the base in a predetermined direction, the moving mechanism having a guide member for said movement, wherein the guide member of the moving mechanism receives a reaction force due to the operation of the vibration mechanism.

[0008] The motion platform may also include a rotation mechanism.

[0009] The motion platform may also include a guide rail on which the rotation mechanism is installed in the rotation direction of the base, and a guide block installed on the guide rail.

[0010] In addition, the motion platform may be such that the guide rail and the guide block are provided between the base and the bottom plate.

[0011] Furthermore, the motion platform may be configured such that the guide rail and the guide block are attached to the rear side of the surface of the base on which the vibration mechanism is attached.

[0012] Furthermore, the motion platform may be configured such that radial movement of the base is prevented by the guide rail and the guide block.

[0013] In addition, the above-mentioned motion platform may be such that the moving mechanism further includes a translation mechanism, the translation mechanism includes a guide rail and a guide block installed in the translation direction of the base, and the guide member is the guide rail of the translation mechanism.

[0014] In addition, in the motion platform, the guide member may be the guide block.

[0015] The motion platform may also include an X-axis movement mechanism and a Y-axis movement mechanism, where one direction of movement of the translation mechanism is defined as the X-axis and the direction perpendicular to the X-axis is defined as the Y-axis.

[0016] In addition, the motion platform may have a motor directly connected to the base.

[0017] The motion platform may further include an auxiliary support device.

[0018] In addition, the motion platform may be configured such that the actuator of the vibration mechanism is rotatably connected to a lower block on the base via a universal joint.

[0019] In order to solve the above problem, a driving simulator is provided which includes a motion platform, the motion platform including a vibration mechanism, a base, and a moving mechanism for moving the base in a predetermined direction, the moving mechanism having a guide member for said movement, and the guide member of the moving mechanism is characterized in that it receives a reaction force due to the operation of the vibration mechanism.

[0020] According to the present invention, the motion platform can be stabilized despite the action of reaction forces of actuators on the motion platform.

[0021] FIG. 1 is a schematic perspective view of a motion platform according to an embodiment of the present invention. FIG. 2 is a partial longitudinal cross-sectional view of an air spring tandem mechanism of a motion platform according to an embodiment of the present invention. FIG. 3 is a schematic perspective view of a translation mechanism of a motion platform according to an embodiment of the present invention. FIG. 4(a) is a schematic perspective view of a rotation mechanism and base of a motion platform according to an embodiment of the present invention, and FIG. 4(b) is a schematic perspective view of only the rotation mechanism of a motion platform according to an embodiment of the present invention, omitting the base. FIG. 5 is a schematic plan view of a rotation direction guide unit of a motion platform according to an embodiment of the present invention. FIG. 6 is a schematic side cross-sectional view of the rotation direction guide unit of a motion platform according to an embodiment of the present invention, taken along line VI-VI in FIG. 4(a). FIG. 7(a) is a schematic enlarged view of a rotation direction guide unit of a motion platform according to an embodiment of the present invention, and FIG. 7(b) is an enlarged perspective view of a guide block of the rotation direction guide unit.

[0022] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0023] FIG. 1 is a perspective view showing the configuration of a motion platform 100 according to an embodiment of the present invention.

[0024] In FIG. 1 , the motion platform 100 includes a hexapod mechanism 110 as a vibration mechanism, a rotation mechanism disposed below the hexapod mechanism 110 and equipped with a rotation direction guide unit 120 (described below), and a translation mechanism 150 disposed below the rotation mechanism and capable of translation in both the X direction ( FIG. 3 ) and the Y direction ( FIG. 3 ). The vibration mechanism includes an actuator that applies axial force by extending and contracting. The rotation mechanism includes a DD motor, a rotation direction guide rail, and a guide block mounted on the rotation direction guide rail. The hexapod mechanism 110 includes a mounting unit for mounting the cockpit, specifically a mounting base 160, six actuators (ACTs) 170a to 170f (170e and 170f are not shown) that apply axial force to the mounting base 160, and a base 170 that supports these actuators. The actuators 170a to 170f and the mounting table 160 are rotatably connected to each other via three ACT upper blocks 172, so that the contraction of each actuator acts on the mounting table 160 as a force only in the axial direction of the actuator. Similarly, the actuators 170a to 170f and the base 170 are rotatably connected to each other via three ACT lower blocks 173, so that the contraction of each actuator acts on the base 170 as a force only in the axial direction of the actuator. In other words, the vibration mechanism is capable of six degrees of freedom of vibration application. Furthermore, the base 170 of the hexapod mechanism 110 forms a rotary table that can be rotated by a rotation mechanism, so that the entire hexapod mechanism 110 can move in a rotational direction. That is, this rotation mechanism allows for a larger rotational range than the range of movement (rotational range) in the rotational direction of the mounting table 160 that is possible with the actuators 170a to 170f, the ACT upper block 172, and the ACT lower block 173. Furthermore, the entire rotation mechanism that rotates the rotary table (base 170) is supported by the translation mechanism 150 via a guide member, allowing it to move in two perpendicular directions. The hexapod mechanism 110 also includes an air spring tandem mechanism 130 to assist in supporting the mounting table 160.As described above, the motion platform 100 causes the cockpit to oscillate by the operation of the hexapod mechanism 110, the rotation mechanism, and the translation mechanism 150, each controlled according to the desired cockpit attitude.

[0025] Although this embodiment relates to a motion platform used in a driving simulator for an automobile, the present invention is not limited to this. For example, it will be clear from the following description that the motion platform can be used in a moving object simulator for a railway vehicle, an airplane, or the like.

[0026] 1, the hexapod mechanism 110 includes three ACT upper blocks 172 spaced evenly apart along a circumference surrounding the mounting table 160. Two actuators (170a, 170b, 170c, 170d, and 170e, 170f) are connected to each of the ACT upper blocks 172 via universal joints, allowing for free rotation (in all rotational planes). Similarly, three ACT lower blocks 173 are spaced evenly along a circumference surrounding the base 170, and two actuators (170f, 170a, 170b, 170c, and 170d, 170e) are connected to each of the ACT upper blocks 172 via universal joints, allowing for free rotation (in all rotational planes). The ACT upper block 172 and the ACT lower block 173 are circumferentially offset by 60 degrees, allowing actuators that are paired (connected to the same upper block) to be connected to different lower blocks. These six actuators are linear actuators, hydraulic cylinders, or equipped with a rotary motor and ball screw, with the rods connected to the pistons contracting axially relative to the cylinders. The rods are rotatably connected to the ACT upper block 172, which is fixed to the mounting base 160, allowing the axial force generated by the contraction to be applied to the mounting base 160. The six actuators are also rotatably connected to the ACT lower block 173. This allows the base 170 to receive the reaction force generated when each actuator applies a force to the mounting base 160 as an axial force. Inclining the connection surfaces between the actuators 170a-170f and the ACT lower block 173 shortens the length of the joints between the actuators 170a-170f. This increases the rigidity of the joints and reduces costs.

[0027] <Air Spring Tandem Mechanism> In FIG. 1 , the motion platform 100 includes an air spring tandem mechanism (auxiliary support device) 130 between the mounting platform 160 and the base 170. The air spring tandem mechanism 130 is positioned approximately at the center of the mounting platform 160 and the base 170 and is configured to assist in supporting the mounting platform 160 at a desired height relative to the base 170. While the motion platform 100 of this embodiment is described as being equipped with a single air spring tandem mechanism 130, this is not limiting and multiple air spring tandem mechanisms may be installed, in which case they are preferably evenly spaced. The air spring tandem mechanism (auxiliary support device) 130 is not essential if the size of the actuators 170a-170f used in the motion platform 100 can be tolerated, but it is still preferable to include an air spring tandem mechanism.

[0028] As shown in FIG. 2, in this air spring tandem mechanism 130, the edges of the openings on both ends of a roughly cylindrical air spring (a repulsive member that functions as an auxiliary member) 134 are sealed with rubber or the like between the lower surface of a connecting intermediate portion 133 at the bottom of an upper connecting base 131 (cylindrical member 132) and the upper surface of a base 170, so that an airtight internal space 134s is formed inside the air spring 134.

[0029] The air spring 134 is formed in a roughly cylindrical shape that defines an internal space 134s by stacking elastic outer circular parts 135-137 made of an elastic material in multiple stages that orbit in parallel between the base 170 and the mounting table 160, with rigid ring-shaped rigid parts 139 being interposed between the elastic outer circular parts 135-137. Here, the air spring 134 is not limited to a multi-stage structure, and may be a single-stage cylindrical structure if it has sufficient flexibility. Furthermore, the air spring 134 is not limited to a cylindrical shape, and may be formed in a rectangular cross section, such as a roughly square tubular shape with a square cross section, or may, of course, be another irregular shape.

[0030] The air spring tandem mechanism 130 also has a fluid passage 139a formed in the base 170 that communicates with the internal space 134s of the air spring 134. An air charging amount control device (not shown) is externally connected to the fluid passage 139a. The air charging amount control device is connected to a general-purpose compressor (not shown) that discharges compressed air, and a general-purpose pressure control circuit detects the charging amount and charging pressure of the compressed air, thereby enabling a desired internal pressure to be generated in the internal space 134s of the air spring 134. At this time, as shown in FIG. 2 , the lower surface of the intermediate connection part 133 on the air spring 134 side and the lower surface of the upper flange 131b of the upper connecting base 131 act as pressure-receiving surfaces for the compressed air, generating a repulsive force that pushes back against the mounting base 160, to which the load weight is applied, as a necessary auxiliary force. This auxiliary force is applied to the mounting base 160 via a second universal joint 138 consisting of a cross joint 138a and a rotation mechanism 138b.

[0031] As a result, the air spring tandem mechanism 130 can generate a desired internal pressure in the internal space 134s of the air spring 134 using the air filling amount control device, thereby generating and applying a repulsive force that acts in the direction of separating the base 170 and the mounting table 160. For example, by maintaining the internal pressure in the air spring 134 at a desired constant pressure, the mounting table 160 can be supported in a direction of separating the base 170 from the mounting table 160 with a constant pressure. The air spring tandem mechanism 130 can also support the mounting table 160 with a desired repulsive force by adjusting the internal pressure in the air spring 134 using the air filling amount control device, for example, in accordance with the weight of the test object on the mounting table 160. Here, the air spring 134 generates a repulsive force by filling the internal space 134s with compressed air. However, springs, elastic rubber, or the like may be arranged at multiple locations between the intermediate connection portion 133 and the base 170 as auxiliary members for the repulsive member to generate and apply a desired constant elastic force. Furthermore, if the load (loaded mass) received by the mounting table 160 at rest remains constant, the air filling amount control device can be omitted and a constant pressure can be sealed (filled and sealed) in the internal space 134s of the air spring 134.

[0032] Therefore, the motion platform 100 can perform tilting and vibration operations of the mounting platform 160 with six degrees of freedom relative to the base 170 by extending and contracting the six sets of actuators 170a, 170b, 170c, 170d, 170e, and 170f.At this time, the air spring tandem mechanism 130 is twisted without interfering with changes in the posture of the mounting platform 160 relative to the base 170, and a desired auxiliary force (repulsion force) can be applied to assist in supporting the multiple actuators 170a to 170f without causing excessive eccentricity or deflection.

[0033] In this way, in the motion platform 100 of this embodiment, the output driving force of multiple actuators can be reduced to perform similar test operations. For example, even when the mounting table 160 is brought to a stationary state, the driving force of the actuators 170a to 170f can be reduced to allow the air spring tandem mechanism 130 to assist in supporting the mounting table 160.

[0034] Therefore, the motion platform 100 allows the auxiliary support device 130 to apply the desired repulsive force not only when the actuators 170a to 170f are driven but also when they are in standby mode (stationary state), thereby reducing the rated output driving force of the servo motors of the actuators 170a to 170f.

[0035] As a result, the driving force required for the servo motors of the plurality of actuators 170a to 170f can be reduced, making the device smaller and reducing costs.

[0036] <Translation Mechanism> Figure 3 is a schematic perspective view of the translation mechanism 150 shown in Figure 1. In this figure, only the translation mechanism 150 of the motion platform 100 is shown.

[0037] As shown in FIGS. 3 and 4(a) and 4(b), the translation mechanism 150 includes an X-axis movement mechanism 151 for moving the cockpit in the X-axis direction and a Y-axis movement mechanism 152 for moving the cockpit in the Y-axis direction, which is perpendicular to the X-axis direction. Here, one direction of movement of the translation mechanism 150 is defined as the X-axis direction, and the direction perpendicular to the X-axis direction is defined as the Y-axis direction. The X-axis movement mechanism 151 includes a linear motor composed of a slider (movable element) 151a and a stator (linear motor guide) 151b. Two linear motors are provided, spaced a predetermined distance apart. The slider 151a is connected at a predetermined location to the bottom plate 143 that holds the rotary table 170. This allows the rotary table 170 (and further the vibration mechanism, such as the hexapod mechanism 110) to be moved in the X-axis direction by driving the slider 151a of the linear motor. The X-axis movement mechanism of the translation mechanism 150 also includes guide rails 151c on the outer sides of the pair of linear motors. The guide rail 151c engages the bottom plate 143 of the turntable 170 with the base 153 so that the balls can roll or slide. As a result, when the bottom plate 143 of the turntable 170 moves in the X-axis direction due to the driving of the linear motor, the guide rail 151c supports the bottom plate 143 of the turntable 170 so that the balls can roll or slide. The X-axis movement mechanism 151 is fixedly connected to the base 153. The Y-axis movement mechanism 152 similarly has two linear motors, and these linear motors are configured with a slider (mover) 152a (not shown) and a stator (linear motor guide) 152b (not shown). The slider 152a is connected to the base 153 of the X-axis movement mechanism 151 at a predetermined location. As a result, by driving the slider 152a of the linear motor, the base 153 of the X-axis moving mechanism 151 (and further the rotation mechanism and the vibration mechanism such as the hexapod mechanism 110) can be moved in the Y-axis direction. The Y-axis moving mechanism of the translation mechanism 150 also includes a guide rail 152c on the outside of the pair of linear motors. This guide rail 152c engages with the base 153 of the X-axis moving mechanism 151 in a rolling or slidable manner using a ball.As a result, when the base 153 is moved by the drive of the linear motor, the guide rail 152c supports the base 153 so that it can roll or slide using balls. The Y-axis movement mechanism 152 described above is fixedly connected to the base 154. The translation mechanism 150 includes the guide rail 151c installed in the translation direction of the base 153, a guide block 151d that fixes the guide rail 151c, and the guide rail 152c and a guide block (not shown) that fixes the guide rail 152c. The guide member may be the guide rail 152c of the translation mechanism 150 or the guide block 151d.

[0038] In addition, the guide rail 152c and guide block 151d of the translation mechanism 150 can receive the reaction force caused by the operation of the hexapod mechanism 110 transmitted via the rotary table 170, thereby preventing the generation of a moment that could cause the motion platform 100 to tip over.

[0039] <Rotation mechanism> Figures 4(a) and (b) are perspective views showing the rotation mechanism of the motion platform 100 shown in Figure 1, with Figure 4(a) showing it together with the rotation table (base) 170 that supports the hexapod mechanism 110, and Figure 4(b) showing it without the base 170.

[0040] As shown in FIG. 4( a), the base 170 serving as a rotary table is fixed to a direct drive (DD) motor 141 around the rotation axis of the DD motor 141 (see FIG. 6). A DD motor is designed without using intermediate mechanisms such as gears or belts. The absence of such mechanisms allows for no reduction in motor rotation speed and space savings. The back surface of the base 170 is also fixedly connected to a rotation direction guide block (guide block) 121. As shown in FIG. 4( b), the rotation direction guide block 121 engages with a circumferential rotation direction guide rail (guide rail) 122 in a rolling or slidable manner. That is, the rotation direction guide rail 122 and guide block are provided between the base 170 and the bottom plate 143 of the rotary table. Two pairs of rotation direction guide blocks 121 are connected to the base 170 at three equally spaced locations on the base 170. Although two rotational direction guide blocks 121 are provided in one set, the number of sets does not have to be two. Also, there may be only one rotational direction guide block 121. Meanwhile, the rotational direction guide rail 122 is fixed to the bottom plate 143 of the rotary table. This allows the base 170 to be rotated by driving the DD motor 141, which in turn rotates the vibration mechanism including the hexapod mechanism 110 above it.

[0041] According to the above configuration, the rotational direction guide block 121 of the rotational direction guide unit 120 can receive, on the line of action, the reaction forces that are generated when the actuators 170a to 170f operate the mounting table 160 and that are transmitted via the base 170. This prevents the reaction forces from generating a moment that could cause the motion platform to tip over, and stabilizes the motion platform when the oscillating device is operating.

[0042] FIG. 5 is a schematic plan view showing the configuration of the rotation direction guide unit 120 in particular of the motion platform 100 according to this embodiment.

[0043] As shown in FIG. 5 , the rotational direction guide unit 120 has two rotational direction guide unit blocks 121 arranged in close proximity to each other in a set, with a total of three sets (six blocks) provided on the rotational direction guide unit rail 122 corresponding to the fixed positions of the actuators 170 a to 170 f. These three sets of rotational direction guide unit blocks 121 are spaced apart from each other at positions that divide the circumference of the rotational direction guide unit rail 122 into three equal parts. As can be seen from FIGS. 1 , 4( a ), and 4 ( b ), these positions are on the rear side of the positions on the base 140 where the actuators 170 a to 170 f are fixed. This allows each rotational direction guide unit block 121 to bear the reaction force caused by the operation of the hexapod mechanism 110 evenly, preventing the motion platform 100 from tipping over.

[0044] In this embodiment, the rotation direction guide unit block 121 is provided at a position on the base 140 that is fixed to the ACT lower block 173, but if six actuators 170a to 170f are provided on the base 140 without using the ACT lower block, at least six rotation direction guide unit blocks 121 may be provided at positions on the back side of the base 140 that correspond to each of the actuators 170a to 170f.

[0045] In the above-described embodiment, the rotation mechanism is disposed below the hexapod mechanism of the vibration mechanism, and the rotation direction guide block 121 of the rotary table receives the reaction force from the actuator. However, the application of the present invention is not limited to this configuration. For example, the present invention can also be applied to a configuration in which a translation mechanism is disposed below the vibration mechanism without a rotation mechanism, or a configuration in which a translation mechanism is disposed below the vibration mechanism and a rotation mechanism is disposed below the translation mechanism. In this configuration, the base of the vibration mechanism is connected to the linear guide rail of the translation mechanism in a rolling or slidable manner using balls, corresponding to the locations on the base of the vibration mechanism where the actuators of the hexapod mechanism are connected during rotation. This allows the linear guide rail to receive the reaction force from each actuator along its line of action. Furthermore, each rotation direction guide block 121 is connected to the base 170 at equally spaced locations on the base 170. More specifically, each rotation direction guide block 121 is connected to the base 170 at three locations spaced approximately 120 degrees apart. If there are at least three connection points between the rotational direction guide block 121 and the base 170, the base 170 can be stably supported on the bottom plate 143 of the rotary table.

[0046] FIG. 6 is a side cross-sectional view taken along line VI-VI in FIG. 4(a) showing details of the rotational direction guide unit 120 of the motion platform 100 according to the embodiment of the present invention.

[0047] 6, the rotational direction guide unit blocks 121 of the rotational direction guide unit 120 are arranged so as to be located near directly above the linear motor guide 151b of the X-axis movement mechanism 151. The rotational direction guide unit blocks 121 rotate on the circular rotational direction guide unit rails 122 in conjunction with the rotation of the turntable 170. However, even during rotation, two sets of four of the six rotational direction guide unit blocks 121 are always located near directly above the linear motor guides 151b of the X-axis movement mechanism 151. This allows the linear motor guides 151b of the X-axis movement mechanism 151 to bear the reaction force caused by the operation of the hexapod mechanism 110 supported by the rotational direction guide blocks 121, further preventing the motion platform 100 from tipping over.

[0048] FIG. 6 also shows how the DD motor 141 and the rotary table 170 are connected.

[0049] As shown in FIG. 6 , the DD motor 141 and the rotary table 170 are connected to each other by a thin plate 142a. The DD motor 141 is composed of a rotary table connector 141a for connecting to the rotary table 170 and a motor 141b. The thin plate 142a is fixed to a fixed plate 142b with bolts in the rotational direction relative to the DD motor 141, but is fixed so as to be movable in the vertical direction. As a result, the elastic thin plate 142a transmits the rotational force of the DD motor 141 to the rotary table 170 but does not transmit vertical vibrations caused by the rotary table 170 to the DD motor 141. Since vertical vibrations are not transmitted to the DD motor 141, it is possible to prevent the DD motor 141 from being subjected to impacts that could cause damage. Furthermore, because the DD motor 141 and the rotary table 170 are directly connected by the thin plate 142a without a gear, energy loss is less than when a gear is used. Furthermore, the absence of gears allows the rotary table 170 to be made more compact.

[0050] Figure 7(a) is a schematic enlarged view showing the rotational direction guide unit 120 of the motion platform 100 according to an embodiment of the present invention, and Figure 7(b) is a schematic enlarged cross-sectional perspective view showing the engagement between the rotational direction guide unit block 121 and the rotational direction guide unit rail 122 of the rotational direction guide unit 120 shown in Figure 7(a) and the direction of the reaction force due to the operation of the hexapod mechanism 110.

[0051] As shown in FIG. 7A, the rotational direction guide rail 122 is a rail with a horizontal H-shaped cross section. The rotational direction guide block 121 has a shape that matches the cross section of the rotational direction guide rail 122 and is provided with a recess 121a therein for receiving the upper protrusion 122a of the rotational direction guide rail 122. The rotational direction guide block 121 also has opposing protrusions 121b and 121c that fit into the intermediate recess 122b of the rotational direction guide rail 122. In this way, the rotational direction guide block 121 is fitted into and guided by the recess 121a and the protrusions 121b and 121c in the rotational direction guide rail 122. Therefore, when the base 170 rotates, the rotational direction guide block 121 rotates along the guide of the rotational direction guide rail 122. As a result, even if a reaction force due to the operation of the hexapod mechanism 110 is applied to the rotational direction guide block 121, the rotational direction guide block 121 can rotate without coming off the rotational direction guide rail 122. In this embodiment, multiple balls (not shown) are enclosed within the rotational direction guide block 121 and between the rotational direction guide block 121 and the rotational direction guide rail 122. These multiple balls are present so as to separate the contact surfaces between the recessed portion 121a of the rotational direction guide block 121 and the upper protrusion 122a of the rotational direction guide rail 122. These multiple balls can pass between the recessed portion 121a of the rotational direction guide block 121 and the upper protrusion 122a of the rotational direction guide rail 122 and move into the rotational direction guide block 121. Therefore, the upper surface of the upper protrusion 122a of the rotational direction guide rail 122 and the corresponding lower surface of the rotational direction guide block 121 form a rolling surface for balls between the rotational direction guide block 121 and the rotational direction guide rail 122. The presence of these balls reduces friction between the rotational direction guide block 121 and the rotational direction guide rail 122. For example, an R-Guide HCR type manufactured by THK Corporation can be used as this type of rotational direction guide (rotational direction guide block 121, rotational direction guide rail 122), but there is no limitation to this as long as a rolling surface for balls can be formed.As will be described in the next section, the rotational direction guide rail 122 can bear the reaction force caused by the operation of the hexapod mechanism 110 with the rolling surface of the upper balls. In other embodiments that do not include balls, the upper surface of the upper convex portion 122a of the rotational direction guide rail 122 and the corresponding lower surface of the rotational direction guide block 121 form a sliding surface between the rotational direction guide block 121 and the rotational direction guide rail 122. The rotational direction guide rail 122 can bear the reaction force caused by the operation of the hexapod mechanism 110 with the upper sliding surface.

[0052] 7B, a reaction force due to the operation of the hexapod mechanism 110 is applied to the rotational direction guide rail 122 via the rotational direction guide block 121. The reaction force due to the operation of the hexapod mechanism 110 is applied to the upper surface of the rotational direction guide rail 122 and in the tangential direction of the rotational direction guide rail 122.

[0053] Two actuators 170a-f, each capable of moving in a different direction, are attached to the back side of a pair of rotational direction guide blocks 121 via a base 170. Because the direction of reaction force changes as the direction of movement of the actuators 170a-f changes, reaction forces are applied from multiple directions to the rotational direction guide rail 122 to which the rotational direction guide blocks 121 are attached. In Figure 7(b), the reaction forces acting on each part of the rotational direction guide rail 122 due to the operation of the hexapod mechanism 110 are represented as a resultant force of the reaction forces applied from each direction at the center of gravity of the rotational direction guide block 121. The resultant force of the reaction forces applied from each direction is indicated by arrows A and B and the direction of rotation around each direction.

[0054] In this way, the reaction force due to the operation of the hexapod mechanism 110 is received by the rotational direction guide rail 122 via the rotational direction guide block 121 on the ball rolling surface or sliding surface, and because the rotational direction guide block 121 and the rotational direction guide rail 122 are fitted together, the base 170 can rotate without coming off the rotational direction guide rail 122. In other words, the rotational direction guide rail 122 and the rotational direction guide block 121 prevent the base 170 from moving radially on the rotational direction guide rail 122. Furthermore, the hexapod mechanism 110 and the mounting table 160 mounted on the base 170 can be rotated by the base 170, and the reaction force due to the operation of the hexapod mechanism 110 is received by the rotational direction guide rail 122 on its sliding surface, preventing the motion platform 100 from tipping over.

[0055] According to the above-described configuration, the motion platform can be stabilized regardless of the reaction force of the actuator on the motion platform.

[0056] 100 Motion platform 110 Hexapod mechanism 120 Rotational direction guide unit 121 Rotational direction guide unit block 122 Rotational direction guide unit rail 130 Air spring tandem mechanism 141 DD motor 142a Thin plate 142b Fixed plate 143 Bottom plate of rotary table 150 Translation mechanism 151 X-axis movement mechanism 151a Linear motor slider 151b Linear motor guide 151c Linear motor guide rail 152 Y-axis movement mechanism 152a Linear motor slider 152b Linear motor guide 152c Linear motor guide rail 160 Placement table 170 Base 170a, 170b, 170c, 170d Actuator 172 ACT upper block 173 ACT lower block

Claims

1. A motion platform comprising: a vibration mechanism; a base; and a moving mechanism for moving the base in a predetermined direction, the moving mechanism having a guide member for said movement, wherein the guide member of the moving mechanism receives a reaction force due to the operation of the vibration mechanism.

2. The motion platform of claim 1, wherein said movement mechanism comprises a rotation mechanism for rotating said base.

3. The motion platform according to claim 2, wherein the rotation mechanism comprises a guide rail installed in the rotation direction of the base, and a guide block installed on the guide rail.

4. The motion platform of claim 3, wherein the guide rails and the guide blocks are disposed between the base and the bottom plate.

5. The motion platform according to claim 4, wherein the guide rail and the guide block are attached to the rear side of the surface of the base on which the vibration mechanism is attached.

6. The motion platform of claim 3, wherein radial movement of said base is prevented by said guide rails and said guide blocks.

7. The motion platform of claim 1, wherein the movement mechanism further comprises a translation mechanism, the translation mechanism comprising a guide rail and a guide block installed in the translation direction of the base, and the guide member is the guide rail of the translation mechanism.

8. The motion platform of claim 7, wherein said guide member is said guide block of said translation mechanism.

9. The motion platform of claim 7, wherein the translation mechanism comprises an X-axis movement mechanism and a Y-axis movement mechanism, where one direction of movement of the translation mechanism is defined as an X-axis and a direction perpendicular thereto is defined as a Y-axis.

10. The motion platform of claim 1, wherein the base and motor are directly connected by a thin plate.

11. The motion platform of claim 1, further comprising an auxiliary support device.

12. The motion platform according to claim 1, wherein the actuator of the vibration mechanism is rotatably connected to a lower block on the base via a universal joint.

13. A driving simulator having a motion platform, the motion platform comprising: a vibration mechanism; a base; and a moving mechanism for moving the base in a predetermined direction, the moving mechanism having a guide member for said movement, the guide member of the moving mechanism receiving a reaction force due to the operation of the vibration mechanism.

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