CN119136887A

CN119136887A - Motion simulation system and method

Info

Publication number: CN119136887A
Application number: CN202380032844.1A
Authority: CN
Inventors: 路易斯·希赫里斯托; 迈克尔·格雷戈里亚德斯
Original assignee: Arkin Atticus Ltd
Current assignee: Arkin Atticus Ltd
Priority date: 2022-02-09
Filing date: 2023-02-08
Publication date: 2024-12-13
Also published as: US20230256352A1; WO2023152640A1; KR20240157683A; AU2023219288A1; CA3217174A1; JP2025506480A; EP4475971A1

Abstract

Various embodiments described herein include methods, apparatus, and systems for motion simulation. In one aspect, a motion simulation system includes a load bearing actuator and a positioning actuator assembly. The load bearing actuator includes a cylinder defining a cavity and a piston rod at least partially disposed in the cavity of the cylinder. The first end of the piston rod and the cavity of the cylinder define a volume of the cylinder, and the volume of the cylinder is configured to be pressurized to support the weight of a load. The positioning actuator assembly includes a positioning actuator having a stator and a rotor, and a linkage. The connecting rod is connected with the rotor. The rotor is configured to rotate to translate the linkage and position a load supported by the load bearing actuator.

Description

Motion simulation system and method

Citation of related application

The present application claims priority from U.S. provisional patent application No.63/308,421, filed 2/9 at 2022, the disclosure of which is incorporated herein by reference.

Technical Field

The present disclosure relates to motion simulation systems, including but not limited to motion simulation systems that include a platform assembly and are configured to move in multiple degrees of freedom.

Background

The motion simulation system includes multiple platforms for supporting and initiating physical motion for participants in amusement rides and simulation products (e.g., video games). Such systems are designed to provide physical movement to participants in a movie or computer simulation/game campaign. The Stewart (Stewart) platform (or hexapod) is a well-known simulator that enables the platform to move relative to the base.

In some applications, the hexapod platform comprises six linear actuators arranged to move the platform relative to the base in six degrees of freedom, in particular three linear degrees of freedom and three rotational degrees of freedom, depending on which actuators are used in combination. Translational degrees of freedom are commonly referred to as heave (horizontal movement in the direction of travel), heave (horizontal movement perpendicular to the direction of travel) and heave (vertical movement). The rotational degrees of freedom are referred to as roll (rotation about an axis parallel to the direction of travel), pitch (rotation about a horizontal axis perpendicular to the direction of travel), and yaw (rotation about a vertical axis).

In some applications, a hexapod platform may have a limited workspace defined by the maximum and minimum offsets of the platform, as well as further defined by the travel limits of the actuators. For large workspaces requiring further platform movement in any given degree of freedom, some systems employ longer actuators, but such longer actuators may greatly increase the cost of the simulator and may also reduce the inherent stiffness of the simulator. In addition, some existing motion simulation systems may use expensive industrial-grade components, further increasing the cost of the simulator. In some applications, the primary cost driver for existing motion simulation systems is the motion actuator subsystem, which includes the drive element (servo motor), the associated gear reduction element, and the associated feedback and control system.

Disclosure of Invention

Thus, there is a need for a motion simulation system that can improve motion control and capabilities (e.g., higher frequency response) while also having lower manufacturing costs.

The present disclosure describes a motion simulation system for initiating physical motion for entertainment and simulation purposes. In some embodiments, the motion simulation system includes one or more load bearing actuators and one or more positioning actuator assemblies.

The motion simulation system includes a plurality of load bearing actuators and a plurality of positioning actuator assemblies. In various embodiments, the motion simulation system may include twice the number of positioning actuator assemblies of the load bearing actuator. In some embodiments, the motion simulation system may include three load bearing actuators and six positioning actuator assemblies. In some embodiments, one end of one load bearing actuator may be adjacent one end of the first and second positioning actuator assemblies. The motion simulation system may allow six degrees of freedom.

The motion simulation system may include a platform. The platform may be coupled to a load bearing actuator and a positioning actuator assembly.

In some embodiments, the load bearing actuator may include a surge tank. The buffer vessel may provide or define a dead volume. The surge tank may be in fluid communication with the cylinder. The surge tank may increase the dead volume of the load bearing actuator. For example, the dead volume may be about 100% -500% of the working volume (sweet volume) of the cylinder. In some embodiments, the cylinder may be filled by swinging the piston rod.

In some embodiments, the positioning actuator assembly includes a crank pivotally coupled to the rotor and the connecting rod. The crank may be integrally formed with the rotor.

In some embodiments, the load bearing actuator and positioning actuator assembly are disposed at least partially within a linear drive housing. The connecting rod of the positioning actuator assembly may be connected to the piston rod of the load bearing actuator. In some embodiments, one end of the connecting rod is pivotally connected to the piston rod between the first and second ends of the piston rod.

In some embodiments, the motion simulation system includes a controller for controlling operation of the load bearing actuator and the positioning actuator. In various embodiments, the controller is capable of detecting current consumption of the positioning actuator. In some embodiments, the controller is configured to pressurize the volume of the cylinder to a pressure to minimize current consumption of the positioning actuator. In various embodiments, the controller is configured to control operation of the positioning actuator at a frequency approaching about 1000 Hz.

In various embodiments, the controller of the motion simulation system may compare the rotational position of the positioning actuator to a desired rotational position of the positioning actuator to provide closed loop control of the motion simulation system. In some embodiments, the controller may adjust the gain factor based on a comparison of the rotational position of the positioning actuator to a desired rotational position of the positioning actuator.

In some embodiments, the motion simulation system includes an electrical energy storage device for receiving energy generated by the positioning actuator and deploying the energy into the motion simulation system.

As previously mentioned, some conventional motion simulation systems may be expensive and may have a relatively low frequency response and inherent stiffness. The present disclosure includes embodiments that enable improved motion control, increased frequency response, and increased inherent stiffness while providing lower component and manufacturing costs. Embodiments of the present disclosure are able to use a direct drive actuator arrangement and eliminate gear reduction elements. Furthermore, embodiments of the present disclosure can use rotary or linear encoders to provide additional control for non-servo motors. Additionally, embodiments of the present disclosure can allow forced ventilation of the actuator to increase cooling.

In one aspect, some embodiments include a motion simulation system including a load bearing actuator and a positioning actuator assembly. The load bearing actuator includes a cylinder defining a cavity and a piston rod at least partially disposed in the cavity of the cylinder, wherein a first end of the piston rod and the cavity of the cylinder define a volume of the cylinder, the volume of the cylinder configured to be pressurized to support a weight of a load. The positioning actuator assembly includes a positioning actuator including a stator, a rotor configured to rotate relative to the stator, and a linkage coupled to the rotor, wherein the rotor is configured to rotate to translate the linkage and position a load supported by the load bearing actuator.

In another aspect, some embodiments include a motion simulation system including a base, a platform movable relative to the base and configured to support a load, a plurality of load bearing actuators, and a plurality of positioning actuator assemblies. Wherein each load bearing actuator comprises a cylinder pivotally coupled to the base, wherein the cylinder defines a cavity, and a piston rod having a first end and a second end, wherein the first end is at least partially disposed within the cavity of the cylinder to define a volume of the cylinder, and the second end is pivotally coupled to the platform, the volume of the cylinder being configured to be pressurized to support the platform. Each positioning actuator assembly includes a positioning actuator coupled to a base, the positioning actuator including a stator and a rotor configured to rotate relative to the stator, and a link including a first end pivotally coupled to the rotor and a second end pivotally coupled to the platform, wherein the rotor is configured to rotate to translate the link and position a load supported by the plurality of load bearing actuators.

In another aspect, some embodiments include a method for operating a motion simulation system, the method comprising pressurizing a plurality of load-bearing actuators to support a platform relative to a base, and moving the platform by rotating a plurality of positioning actuators of a respective plurality of positioning actuator assemblies, wherein each positioning actuator assembly is pivotally connected to the platform by a respective link of the plurality of positioning actuator assemblies.

In another aspect, some embodiments include means for performing any of the methods described herein. In another aspect, some embodiments include a non-transitory computer readable storage medium storing one or more programs, the one or more programs comprising instructions, which when executed by a system, enable the system to perform any one of the methods described herein.

Thus, these systems and methods for simulating motion with more efficient motion control are provided, while reducing component and manufacturing costs, thereby improving performance and reducing overall cost of these systems and devices.

Drawings

For a better understanding of the various embodiments described, reference will be made to the following detailed description taken in conjunction with the accompanying drawings, in which like reference numerals refer to corresponding parts throughout.

FIG. 1 is a perspective view of a motion simulation system with a load according to some embodiments.

Fig. 2 is a perspective view of a motion simulation system according to some embodiments.

Fig. 3 is a perspective view of a load bearing actuator of the motion simulation system of fig. 2, according to some embodiments.

Fig. 4 is a cross-sectional view of a load bearing actuator of the motion simulation system of fig. 2, according to some embodiments.

Fig. 5 is a perspective view of a positioning actuator assembly of the motion simulation system of fig. 2, according to some embodiments.

Fig. 6 is a perspective view of a positioning actuator of the positioning actuator assembly of fig. 5, according to some embodiments.

Fig. 7 is a perspective view of a positioning actuator of the positioning actuator assembly of fig. 5, according to some embodiments.

Fig. 8A is a perspective view of a motion simulation system according to some embodiments.

FIG. 8B is a side view of a positioning actuator assembly of the motion simulation system of FIG. 8A, according to some embodiments.

Fig. 8C is a perspective view of a motion simulation system according to some embodiments.

FIG. 8D is a side view of a positioning actuator assembly of the motion simulation system of FIG. 8C, according to some embodiments.

Fig. 8E is a perspective view of a positioning actuator assembly according to some embodiments.

Fig. 9 is a perspective view of a motion simulation system with a load according to some embodiments.

Fig. 10 is a perspective view of a motion simulation system according to some embodiments.

11A-11G are perspective views of a motion simulation system, respectively, according to some embodiments.

Fig. 12 is a perspective view of a motion simulation system according to some embodiments.

Fig. 13 is a perspective view of an integrated linear actuator unit of the motion simulation system of fig. 12, according to some embodiments.

Fig. 14 is a side view of the integrated linear actuator unit of fig. 13.

Fig. 15 is a perspective view of a load bearing actuator of the integrated linear actuator unit of fig. 13, according to some embodiments.

Fig. 16 is a perspective view of a motion simulation system according to some embodiments.

Fig. 17 is a perspective view of a haptic device according to some embodiments.

Fig. 18 is a side view of the haptic device of fig. 17.

Detailed Description

The present disclosure describes various embodiments of motion simulation systems. In some embodiments, the motion simulation system includes a plurality of load bearing actuators and a plurality of positioning actuators such that the load bearing actuators support the weight of the load, thereby minimizing the weight that the positioning actuators need to support. In some applications, the use of a load bearing actuator allows the use of a direct drive positioning actuator. Advantageously, by minimizing the weight that the positioning actuator must support, embodiments of the motion simulation system are able to use smaller and cost-effective actuators that provide the desired range of motion and degrees of freedom (e.g., six degrees of freedom) while providing improved motion control and high frequency response (up to 1000Hz in some embodiments).

Fig. 1 is a perspective view of a motion simulation system 100 with a load 10 according to some embodiments. Fig. 2 is a perspective view of motion simulation system 100 according to some embodiments. Referring to fig. 1 and 2, the motion simulation system 100 supports and/or positions a load 10 relative to a base 110 to provide motion information, signals, or other feedback to a user. In some embodiments, load 10 may include, but is not limited to, a user, a seat, and/or hardware. In some embodiments, the hardware device may include, but is not limited to, automotive simulation hardware (e.g., steering wheel and pedals), aero simulation hardware, or other suitable hardware devices. In some applications, the load 10 may exceed 100 kilograms. While embodiments of the motion simulation system may carry or move heavier loads than some conventional motion simulation systems, the load capacity of one embodiment of the motion simulation system may vary with the size and configuration of the motion simulation system.

As shown, the platform 120 is capable of supporting and positioning the load 10 relative to the base 110. In the illustrated example, the platform 120 includes one or more legs 122, the legs 122 being shaped, bent, or otherwise configured to receive, cradle (cradle), or otherwise support the load 10. Portions of the load 10 may be attached or secured to the plurality of legs 122 of the platform 120. Other features of the legs 122 or platform 120 may be adapted to any suitable load 10. In some embodiments, the platform 120 may be any suitable shape or configuration. For example, the platform 120 may have a planar shape, such as a disk, to allow a planar surface to support the load 10. In some embodiments, the shape of the platform 120 may be symmetrical or asymmetrical, and may vary in other ways.

In the example shown, base 110 is capable of supporting the weight of platform 120 and load 10, as well as other components of motion simulation system 100. As shown, the base 110 may have a generally hexagonal shape. In some embodiments, the shape of base 110 may be symmetrical or asymmetrical, and may vary in other ways.

As described herein, one or more load bearing actuators 130 can support the weight of the platform 120 and load 10 relative to the base 110. In addition, one or more positioning actuator assemblies 140 are capable of moving or positioning the platform 120 and load 10 relative to the base 110.

Fig. 3 is a perspective view of a load bearing actuator of the motion simulation system 100 of fig. 2, according to some embodiments. Fig. 4 is a cross-sectional view of a load bearing actuator of the motion simulation system 100 of fig. 2, according to some embodiments. Referring to fig. 1-4, each load bearing actuator 130 is capable of supporting the platform 120 and the load 10 in a desired attitude relative to the base 110. In the illustrated example, during normal operation, the load bearing actuator 130 supports the platform 120 and the load 10 without affecting the position of the platform 120.

In the example shown, a load bearing actuator 130 is coupled to the platform 120 and the base 110. As shown, one end of the load bearing actuator 130 is coupled to the base 110 and an opposite end 136 of the load bearing actuator 130 is coupled to the platform 130. In some embodiments, one end 136 may be connected to the end 124 of the leg 122 or other suitable location of the platform 120. In some embodiments, the position of the joints, connectors, or ends 136 of the load bearing actuators 130 relative to the platform 120 and/or base 110 may be coplanar, non-coplanar, symmetrical, asymmetrical, or may otherwise vary. In some embodiments, the end 136 may be pivotally coupled to the base 120 and the platform 120. The end 136 may comprise a ball joint.

Before the motion simulation system 100 is operating properly, the load bearing actuators 130 may be extended to a desired length to act as legs or otherwise support the platform 120 and load 10 in a desired attitude. In the illustrated example, the load bearing actuators 130 are pneumatic actuators that use air pressure to extend and support the platform 120 and load 10 in a desired attitude. In some embodiments, the pneumatic actuator includes a piston rod 134 that is movable relative to the cylinder 132.

As shown, a first end of the piston rod 134 is disposed at least partially within the cavity of the cylinder 132 to define a cylinder volume 133. During operation, the cylinder volume 133 may be pressurized to advance the piston rod 134 and support the platform 120. As described herein, the pressure of the cylinder volume 133 may be adjusted to adjust the position of the piston rod 134 relative to the cylinder 132 and support various load weights, platform heights, and/or attitudes. In some embodiments, the second end 136 of the piston rod 134 is coupled to the platform 120. In some embodiments, the second end 136 of the piston rod 134 may have a travel of about 100mm-200 mm. Moreover, in some embodiments, piston rod 134 is approximately 30mm-50mm in diameter and is capable of applying approximately 500-1500N of force.

In some embodiments, the cylinder 132 may be pressurized by a pneumatic control circuit. The pneumatic control circuit may include a compressor for pressurizing the cylinder volume 133 to a desired pressure through the port 139. The pneumatic control circuit is capable of introducing, releasing, or otherwise controlling the pressure in the cylinder volume 133 through the port 139. In some embodiments, the motion simulation system 100 may be capable of self-pressurizing a pneumatic actuator using the piston rod 134 as a pump element. During self-pressurization or no compressor, the positioning actuator assembly 140 may move the platform through a series of suitable gestures (e.g., vibrating the platform 120 along a vertical or heave axis) and selectively actuate control elements of the pneumatic control system to vibrate a piston rod 134 coupled to the platform 120 to pressurize the cylinder volume 133 to a desired pressure. In some embodiments, the cylinder 132 may include a one-way valve to allow air to enter the cylinder volume 133 during self-pressurization and be compressed by the piston rod 134 without escaping the cylinder volume 133.

In some applications, the state or extension of the load bearing actuator 130 for supporting the platform 120 and load 10 in a desired attitude relative to the base 110 may be determined by a calibration process. For example, the calibration process may determine and provide a desired pressure for the cylinder volume 133 of each load bearing actuator 130 to support the platform 120 and load 10 in a desired attitude relative to the base 110. In some embodiments, the load bearing actuators 130 may be calibrated to support the platform 120 and the load 10 in a pose that allows the motion simulation system 100 to move the platform 120 through a desired range of motion, which may be centered in the motion envelope of the motion simulation system 100. In some embodiments, the load bearing actuators 130 may be calibrated to support the platform 120 in a posture that is offset from the center of the motion envelope of the motion simulation system 100. For example, the load bearing actuators 130 may be calibrated to support the platform 120 at a position above or below the center of the motion envelope of the motion simulation system 100.

In some embodiments, the calibration process may begin by placing the platform 120 in static equilibrium in a preselected pose, which may be referred to as a zero position pose, using the positioning actuator assembly 140. As described herein, the controller may determine the weight of the platform 120 and the supported load 10 by detecting the load experienced by the positioning actuator assembly 140. In some embodiments, the load on the positioning actuator assembly 140 may be determined by a current feedback signal analyzed by a controller.

After determining the weight of the platform 120 and any supported load 10, the cylinder volume 133 of each respective load bearing actuator 130 may be pressurized to minimize the load carried by the positioning actuator assembly 140. In some embodiments, the minimum value of the current signal from the positioning actuator assembly 140 may be used as feedback for closed loop control of pressurization of the load bearing actuator 130. The load bearing actuator 130 may be pressurized using a pneumatic circuit (i.e., compressor) or self-pressurized by vibration of the platform 120, as described herein.

In some embodiments, after the calibration process, the pressure of the cylinder volume 133 of each respective load bearing actuator 130 is built to balance the pressure to support the platform 120 and load 10 in the desired attitude. Similarly, the travel of the piston rods 134 relative to the cylinders 132 of each respective load bearing actuator 130 may be configured as a balanced distance or travel to support the platform 120 and load 10 in a desired attitude. The equilibrium pressure and travel may vary between each load bearing actuator 130. After calibration, each load bearing actuator 130 may be separated from the pneumatic circuit gas. Advantageously, because the weight of the platform 120 and load 10 is supported or offset by the load bearing actuator 130, the calibrated load bearing actuator allows the motion simulation system 100 to maintain a zero position attitude with minimal torque (and power) from the positioning actuator assembly 140.

In some applications, certain pneumatic actuators may apply different forces based on the position of the piston rod in the variable volume or working volume (swept volume) of the actuator. For example, without taking into account temperature effects, some pneumatic actuators may apply a smaller driving force when the piston rod is extended, as the cylinder volume is increased and the pressure is reduced, and a larger driving force when the piston rod is contracted, as the cylinder volume is reduced and the pressure is increased. In some pneumatic actuators, the force applied by the actuator may be inversely proportional to the piston position.

In some embodiments, the load bearing actuator 130 may provide a relatively large non-variable volume or dead volume (dead volume) compared to the variable working volume of the cylinder 132 and piston rod 134 to minimize pressure changes and thus changes in driving force as the piston rod 134 passes through its stroke. In the illustrated example, the load bearing actuator 130 includes a surge tank 138, the surge tank 138 being in fluid communication with the cylinder 132 to provide additional dead volume for the cylinder 132. As shown, the dead volume of the surge tank 138 may be in fluid communication with the cylinder volume 133 through a port 139. Advantageously, because the dead volume of the buffer tank 138 is significantly greater than the variable volume of the cylinder volume 133, the overall pressure change of the load bearing actuator 130 (i.e., the total volume of the buffer tank 138 and the cylinder volume 133) is minimized as the cylinder volume 133 changes, and similarly, the force change provided by the load bearing actuator 130 is minimized. In some embodiments, the dead volume of the surge tank 138 is 100% -500% of the variable working volume of the cylinder volume 133.

In some embodiments, the load bearing actuators 130 may provide mechanical damping between moving and stationary portions of the motion simulation system 100. In some embodiments, the magnitude of the damping effect may be adjusted by controlling the air flow rate between the surge tank 138 and the extension chamber of the cylinder 132 and/or between the retraction chamber of the cylinder 132 and the environment. In some embodiments, the air flow rate may be adjusted during operation to dynamically adjust the amount of damping effect provided by the load bearing actuator 130. In addition, the load bearing actuators 130 may act as springs to recover and/or restore energy from the platform 120 and the load 10.

In some embodiments, the load bearing actuator 130 may be an active or passive device, and other types of actuators may be used, including but not limited to gas struts, gas springs, elastic cords, linear springs, coil springs, and/or rotary springs. As described herein, the force applied by the load bearing actuator 130 is adjustable. For example, some load bearing actuators may include adjustable or programmable springs. In some embodiments, the programmable spring may comprise a Series Elastic Actuator (SEA) comprising an actuator connected to the load by an elastic element (e.g., one or more springs) and a sensor for measuring the extent of force transmitted through the elastic element. A control loop can be programmed to create a system that can apply a specified force to the load and cause the actuator to behave like a spring with a desired stiffness.

In some embodiments, the force applied by the load bearing actuator 130 may be preset or not easily adjustable. For example, certain load bearing actuators 130 may be configured for fixed loads and may be initially adjusted or manufactured to provide a suitable bearing force. In some embodiments, some load bearing actuators 130 may be configured for fixed loads and may be adjusted or manufactured using a similar calibration process described herein.

The load bearing actuators 130 may be arranged or otherwise disposed in any suitable arrangement relative to the base 110 and platform 120, as described herein. For example, the motion simulation system 100 may include twice as many positioning actuator assemblies 140 as load bearing actuators 130. As shown, the motion simulation system 100 may include three load bearing actuators 130. The load bearing actuators 130 may be equally spaced.

Fig. 5 is a perspective view of the positioning actuator assembly 140 of the motion simulation system 100 of fig. 2, according to some embodiments. Referring to fig. 5, each positioning actuator assembly 140 may move or position the platform 120 and load 10 in a desired attitude relative to the base 110. In the illustrated example, the positioning actuator assembly 140 may collectively or cooperatively position the platform in any six-dimensional pose with respect to heave, yaw, pitch, and roll in the motion space envelope of the motion simulation system 100.

In the example shown, the positioning actuator assembly 140 is coupled to the platform 120 and the base 110. As shown, the positioning actuator 150 may be coupled to the base 110 and one end 148 of the linkage 146 may be coupled to the platform 120. In some embodiments, one end 148 of the link 146 may be connected to the end 124 of the leg 122 or other suitable location of the platform 120. In some embodiments, the position of the respective positioning actuator assembly 140 relative to the end 148 of the platform 120 may be coplanar, non-coplanar, symmetrical, asymmetrical, or may otherwise vary. In some embodiments, the end 148 of the link 146 may be pivotally connected to the platform 120 and the positioning actuator 150. End 148 may include a ball joint. In some embodiments, the position of the positioning actuator 150 of the respective positioning actuator assembly 140 relative to the base 110 may be coplanar, non-coplanar, symmetrical, asymmetrical, or may otherwise vary.

During operation of the motion simulation system 100, the positioning actuator assembly 140 may extend, retract, translate, or otherwise move each of the links 146 to position the platform 120 and the load 10 in a desired attitude. In the illustrated example, the positioning actuator assembly 140 includes a positioning actuator 150, the positioning actuator 150 being configured to manipulate the linkage 146 to thereby position the platform 120 (in combination with other positioning actuator assemblies 140) in a desired attitude.

In the example shown, the positioning actuator 150 rotates the rotor 142 to adjust the position of the link 146, and in particular the position of the link end 148 pivotally coupled to the platform 120. As shown, a linkage, such as a crank 144 coupled to the rotor 142, may move or translate an opposite link end 148 pivotally coupled to the crank 144 as the rotor 142 rotates. Rotation of the crank 144 may move or translate the link 146 and, in turn, the link end 148 coupled to the platform 120. In some embodiments, the length or geometry of the crank 144 may be varied to adjust the relationship between the rotation of the rotor 142 and the movement of the connecting rod 146. Further, in some embodiments, the positioning actuator may comprise a linear actuator.

Advantageously, the direct attachment or connection of the connecting rod 146, crank 144, and rotor 142 of the positioning actuator 150 allows the direct drive mechanism or device to adjust the position of the platform 120. Furthermore, the absence of an indirect or intermediate machine or power transmission element allows the weight and inertia of the platform 120 and load 10 to be directly and immediately transferred to the positioning actuator 150 and increases the system stiffness and response, allowing the motion simulation system 100 to reject or overcome static external disturbances (e.g., when the shaft is maintaining position or speed) and dynamic external disturbances (e.g., when the shaft is following a position or speed trajectory).

In some conventional applications, the use of a direct drive mechanism may require that the conventional positioning actuator directly bear the weight of the platform and load. Thus, in some applications, conventional actuators require constant torque to be applied to balance the weight of the platform and load, even during static balancing, increasing energy consumption and actuator requirements. Advantageously, the use of load bearing actuators 130 to support the weight of the platform 120 and load 10 enables the use of a direct drive positioning actuator assembly 140 that does not need to directly or continuously bear the weight of the platform 120 and load 10. The use of the load bearing actuator 130 allows for smaller, lighter, less expensive actuators and other components to be used in the positioning actuator 140 while achieving the desired performance, and allows for reduced energy consumption.

Fig. 6 is a perspective view of a positioning actuator 150 of the positioning actuator assembly 140 of fig. 5, according to some embodiments. Fig. 7 is a perspective view of a positioning actuator 150 of the positioning actuator assembly 140 of fig. 5, according to some embodiments. Referring to fig. 5-7, the positioning actuator 150 rotates the rotor 142 relative to a stator disposed in a housing of the positioning actuator 150. In some embodiments, the positioning actuator 150 includes a rotary encoder 152 for determining the rotational position of the rotor 142 relative to the stator or other static portion of the positioning actuator 150. In general, the signal from the rotary encoder 152 may be used as feedback for closed loop control of the positioning actuator assembly 140 and the motion simulation system 100. In some embodiments, the positioning actuator 150 may include a fan 156 for actively cooling the components of the positioning actuator 150. The fan 156 may suck cool air and discharge heat through a fan housing 154 formed in the positioning actuator 150.

As described herein, embodiments of the positioning actuator assembly may include a linkage with a spherical joint end that allows the linkage to pivot or rotate relative to the positioning actuator and platform while allowing the positioning actuator to control the position of the platform. In some applications, certain ball joints may have a limited angle of rotation, potentially limiting movement of the links, which in turn limits movement of the positioning actuator assembly, which may result in limiting the motion envelope of the motion simulation system. For example, some ball joints may have a range of rotation angles approaching + -10 degrees, + -15 degrees, or + -20 degrees.

Furthermore, in some applications, some positioning actuator assemblies are configured such that the motion simulation system cannot use the full range of rotational angles of the ball joint, thereby potentially limiting the motion envelope of the motion simulation system to a given range of rotational angles of the ball joint. For example, some positioning actuator assemblies may be configured such that when the motion simulation system is in a preselected, stationary or zero position attitude, the ball joint ends of the respective links are disposed at or at midpoints that are offset from the respective angular ranges of rotation. Thus, in some applications, the ball joint end may rotate much more in one direction and less in the other direction relative to the zero position attitude. In some applications, a reduced rotational travel relative to the zero position pose may impose a limit on the overall motion envelope of the motion simulation system.

Fig. 8A is a perspective view of a motion simulation system 200a according to some embodiments. Fig. 8B is a side view of the positioning actuator assembly 240a of the motion simulation system 200a of fig. 8A, according to some embodiments. In some embodiments, the one or more positioning actuator assemblies 240a are configured to increase the range of motion or the envelope of motion of the motion simulation system 200a as compared to some conventional motion simulation systems. In some embodiments, the motion simulation system 100 can use other types, configurations, or arrangements of actuator assemblies or actuators, as shown by their implementation in other systems.

In some embodiments, one or more positioning actuator assemblies 240a may be positioned or configured to avoid limiting or otherwise increasing the available range of motion of the link 248a, which in turn may increase the range of motion of the positioning actuator assembly 240a and the motion envelope of the motion simulation system 200 a. In the illustrated example, the positioning actuator assembly 240a may be positioned such that the ball joint end 248a of the corresponding link 246a is disposed at or near a location approximately at or near the midpoint of the respective range of rotational angles when the motion simulation system 200a is in a preselected, at-rest, or zero position attitude. In some applications, the ball joint end 248a may be configured to be located approximately at or near the midpoint of the respective range of rotational angles when the load bearing actuator 230a is disposed in a balanced configuration or position. By allowing ball joint end 248a to be positioned at a location approximately at or near the midpoint of the respective angular range of rotation when motion simulation system 200a is in the zero position attitude, ball joint end 248a may be rotated in all directions by an equal amount relative to the zero position attitude. Advantageously, a rotational travel that is approximately equal relative to the zero position pose may maximize the overall motion envelope of motion simulation system 200a for a given ball joint end 248 a.

In some embodiments, for a given position or attitude, the position of ball joint end 248a within the range of rotational angles may be adjusted by changing the angle between the horizontal plane and the motor shaft of positioning actuator 250a, which may also be referred to as the motor dihedral angle. In the illustrated example, the motor dihedral angle of the positioning actuator 250a may be adjusted such that the ball joint end 248a is able to be located approximately at or near the midpoint of the respective range of oscillation angles when the motion simulation system 200a is in the zero position attitude. In some applications, the motor dihedral angle of the positioning actuator 250a may be adjusted such that, in a desired attitude, the ball joint ends 248a are located at another desired position of the respective range of rotational angles. As shown, the motor dihedral angle of the positioning actuator 250a may be non-zero and positive. In some embodiments, the motor dihedral angle of the positioning actuator 250a may be between about 0.1 degrees and about 20 degrees.

In some embodiments, for a given position or attitude, the position of the ball joint end 248a within the range of rotational angles can be adjusted by changing the angle between the base surface of the platform 220 and the axis of the ball joint end 248a, which may also be referred to as the platform dihedral angle. In the illustrated example, the platform dihedral of the platform 220a may be adjusted such that the ball joint end 248a is able to be located approximately at or near the midpoint of the respective range of rotation angles when the motion simulation system 200a is in the zero position attitude. In some applications, the platform dihedral angle of the platform 220a may be adjusted such that the ball joint ends 248a are located at another desired position of the respective range of rotational angles in a desired pose. As shown, the land dihedral angle of land 220a may be non-zero and positive. In some embodiments, the land dihedral angle of land 220a may be between about 0.1 degrees and about 20 degrees. In some applications, the motor dihedral and the platform dihedral may be the same, similar, or complementary. In some applications, the motor dihedral and the platform dihedral may be different.

Fig. 8C is a perspective view of motion simulation system 200b according to some embodiments. Fig. 8D is a side view of the positioning actuator assembly 240b of the motion simulation system 200b of fig. 8C, according to some embodiments. In some embodiments, the motor dihedral angle of the positioning actuator 250b may be non-zero and negative. In some embodiments, the motor dihedral angle of the positioning actuator 250b may be between about 0.1 degrees and about 20 degrees.

In some embodiments, the land dihedral angle of land 220b may be non-zero and negative. In some embodiments, the land dihedral angle of land 220a may be between about 0.1 degrees and about 20 degrees.

In some applications, the motor dihedral and the platform dihedral may be the same, similar, or complementary. In some applications, the motor dihedral and the platform dihedral may be different. Furthermore, in some embodiments, the motor dihedral and the platform dihedral of certain portions of the motion simulation system may be positive or negative, or non-zero. In some applications, the use of non-zero motor dihedral and platform dihedral may result in a lower profile for the base and the overall motion simulation system.

Fig. 8E is a perspective view of a positioning actuator assembly 240c according to some embodiments. Referring to fig. 8E, motion simulation system 100 may employ a positioning actuator assembly 240c (either in place of positioning actuator assembly 140 or in combination with positioning actuator assembly 140) that includes a crank 244c, with crank 244c being integral with rotor 242c. As shown, crank 244c may extend axially from the surface of rotor 242c such that connecting rod 246c may be directly attached or connected to rotor 242c. During operation, crank 244c may rotate with rotor 242c to move or translate the link and thereby adjust the position of platform 120.

As shown, the positioning actuator assembly 240c may have a non-zero motor dihedral and/or a platform dihedral to maximize the range of rotation of the ball joint end 248c relative to the zero position attitude. In some embodiments, the positioning actuator assembly 240c may have a negative motor dihedral and/or a table dihedral.

As described herein, the positioning actuator assembly 140 may be arranged or otherwise disposed in any suitable arrangement relative to the base 110 and the platform 120. In the illustrated example, the positioning actuator assembly 140 may be arranged to allow the motion simulation system 100 to move in six degrees of freedom. As shown, the motion simulation system 100 may include six positioning actuator assemblies 140. The six positioning actuator assemblies 140 may be equally spaced. For example, the positioning actuator assemblies 140 may be spaced 500mm to 1200mm apart. In some embodiments, the positioning actuator assembly 140 may be arranged in a "six-foot-of-rotation" arrangement.

In some applications, the position of the positioning actuator assembly 140 may be varied relative to the load bearing actuator 130. As previously described, the motion simulation system 100 may include twice as many positioning actuator assemblies 140 as load bearing actuators 130. In some embodiments, each load bearing actuator 130 may be located between two positioning actuator assemblies 140, forming three "leg sets" disposed about the base 110 and connected to the platform 120. Furthermore, in some embodiments, the end of the piston rod 134 of the load bearing actuator 130 that is connected to the platform 120 may be disposed between the link ends 148 of the two positioning actuator assemblies 140.

In operation, the motion simulation system 100 may use the positioning actuator assembly 140 to place the platform 120 and the load 10 in a desired pose or series of poses in response to position inputs. In the illustrated example, the controller of the motion simulation system 100 may receive a position input as a series of gesture vectors. These gesture vectors may be received at a stream frequency (A STREAMING frequency). In some embodiments, the controller of the motion simulation system 100 is capable of receiving and/or processing pose vectors at a stream frequency of about 1000 Hz. Further, in some embodiments, positioning actuator assembly 140 may be capable of placing platform 120 in various poses at a flow frequency of approximately 1000 Hz. In some applications, the positioning actuator assembly 140 may be synchronously driven using specific features, including but not limited to a parallel architecture with synchronization signals.

During the preprocessing stage, each received pose vector may be converted or scaled. Further, each received pose vector may reference a kinematic state process of the system (e.g., limit the maximum acceleration and/or velocity of the motion simulation system 100). In addition, each received pose vector may be validated against the physical mechanical constraints of motion simulation system 100. In some embodiments, motion simulation system 100 may have a minimum travel limit of about-100 mm to-50 mm, a maximum travel limit of about 50mm to 100mm, and a span of about 100mm to 200mm on heave, and heave axes. In some embodiments, the motion simulation system 100 may have a minimum travel limit of about-15 degrees to-5 degrees, a maximum travel limit of about 5 degrees to 15 degrees, and a span of about 10 degrees to 20 degrees on the yaw, pitch, and roll/flip axes.

In the illustrated example, the valid pose vector is then converted into a position vector for each respective positioning actuator assembly 140, which is commanded to each respective positioning actuator assembly 140. In some embodiments, the controller of the motion simulation system 100 uses inverse kinematics to control the position of the platform 120. For example, the controller processes the attitude vectors to provide an effective position vector, which may be the desired angle of rotation of the corresponding positioning actuator 150. Thus, the aforementioned series of input gesture vectors may cause highly controllable motion of platform 120. In some embodiments, the motion control system 100 may control the motion of at least six positioning actuator assemblies 140 to provide six degrees of freedom. In some embodiments, the motion control system 100 may be "overdriven" and may include more positioning actuator assemblies 140 than the desired degrees of freedom. In some applications, the motion simulation system 100 may use "forward" or joint space control (i.e., each positioning actuator assembly 140 is controlled individually), "reverse" or model space control (i.e., the motion control of the stage 120 is one system), or a hybrid system that may be switched between joint space control and model space control in different situations. In some applications, the motion simulation system 100 may use forward kinematics and/or inverse dynamics control to control the position of the platform 120.

In some embodiments, the motion simulation system 100 may provide independent closed loop control of each positioning actuator assembly 140 as the controller of the motion simulation system 100 may collectively or cooperatively provide an effective position vector to each positioning actuator assembly 140 to provide a desired attitude of the platform 120. For example, in some embodiments, the motion simulation system 100 may use position information or other operational information of the positioning actuator 150 to provide closed loop feedback, adjustment, or control of the input signals to the positioning actuator 150 to provide a desired position or attitude.

As described herein, each positioning actuator 150 may include a rotary encoder 152 for providing position information to the motion simulation system 100. In some embodiments, the positioning actuator may comprise a linear actuator having a linear encoder for providing position information to the motion simulation system 100. The motion simulation system 100 may compare the position information from the rotary encoder 152 to the desired position provided by the valid position vector to adjust the signal or current provided to the positioning actuator 150 to control the positioning of the positioning actuator 150. Further, in some embodiments, the motion simulation system 100 may adjust the current through the motor coils of the positioning actuator 150 recognizing that the current is proportional to the torque output of the rotor 142. The current sensor may provide a feedback signal to allow closed loop control of the torque output and operation of the positioning actuator 150. In some embodiments, the feedback signals described herein may be processed through a multi-stage control loop of the motion simulation system 100 to produce an appropriate control system response.

Alternatively, the response of the control loop of one or more positioning actuator assemblies 140 may be configured by selecting and adjusting one or more gain factors. In some embodiments, the gain factors of each positioning actuator assembly 140 may be set independently or separately and may be dynamically modified during system operation. Thus, the positioning actuator assembly 140 and the motion simulation system 100 may generally be configured to respond in a variety of ways, depending on any suitable combination of available and selectable drives. Advantageously, the performance of the motion simulation system 100 may be optimized under a variety of conditions including, but not limited to, the motion operational requirements, the load 10 and load mass distribution, and the location of the platform 120. In some embodiments, the gain factors used to control the position of the positioning actuator assembly 140 may be initially set based on the moving operational requirements, the load 10 and load mass distribution, and the position of the platform 120 prior to normal operation.

Advantageously, in some applications, due to the direct drive arrangement of the positioning actuator assembly 140, the motion simulation system 100 may recover or recover energy for later use. In some embodiments, the positioning actuator 150 may recover kinetic and/or potential energy from the platform 120. During operation, movement of the platform 120 may energize or back drive the positioning actuator 150 to generate electrical energy.

The electrical energy generated by the positioning actuator 150 may be stored in the form of electrical potential energy. In some embodiments, the electrical energy may be stored in an energy storage device, such as a super capacitor (ultracapacitor), super capacitor (supercapacitor), a capacitor, a battery, or other suitable energy storage device, or a combination thereof. In some embodiments, the energy storage device may store energy from multiple recovery events. The energy stored in the energy storage device may be redeployed into the motion simulation system 100 as desired. The energy storage device may be connected in parallel with the power supply of the motion simulation system 100. During operation, the energy storage device may rapidly deploy electrical energy in response to high peak current demands that may exceed certain power supply capabilities. Advantageously, the capture, storage, and deployment of electrical energy may supplement the capabilities of the power supply of the motion simulation system 100, allowing for reduced demand on the power supply. Advantageously, by reducing the power requirements for the power source, the size of the power source may be reduced without compromising the kinematic performance of the motion simulation system 100. In some applications including battery energy storage devices, the motion simulation system may include components or control systems for maintaining battery health and integrity.

Fig. 9 is a perspective view of a motion simulation system 100a with a load 10 according to some embodiments. Fig. 10 is a perspective view of a motion simulation system 100a according to some embodiments. Referring to fig. 9 and 10, motion simulation system 100a includes some features similar to motion simulation system 100. Accordingly, certain features of the motion simulation system 100a that are similar to features of the motion simulation system 100 are identified with similar reference numerals.

In the example shown, the motion simulation system 100a includes a curved platform 120a for supporting the load 10. In the illustrated example, the platform 120a includes one or more curved legs 122a shaped to cradle or otherwise support the load 10. In some embodiments, these curved legs 122a may be curved vertically and/or horizontally. Alternatively, the curved legs 122a may define a compound curve in multiple planes. As shown, in some embodiments, the curved leg 122a may be configured to support or cradle an automobile seat. Portions of the load 10 may be attached or secured to the legs 122a of the platform 120a. The legs 122a or other features of the platform 120a may be adapted to any suitable load 10.

In some embodiments, one end of the load bearing actuator 130 may be coupled to the middle portion 124a of the leg 122a or other suitable location of the platform 120 a. Further, in some embodiments, one end of the positioning actuator assembly 140 may be coupled to the middle portion 124a of the leg 122a or other suitable location of the platform 120 a.

11A-11G are perspective views of motion simulation systems 300a-300G, respectively, according to some embodiments. Fig. 11A-11G illustrate different embodiments of a motion simulation system using a positioning actuator assembly 340 and a load bearing actuator 330 according to the present disclosure. In some applications, the positioning actuator assembly 340 and the load bearing actuator 330 described herein may be replaced with any other acceptable positioning actuator assembly and load bearing actuator, including the components described herein. In addition, a mix of different types of positioning actuator assemblies 340 and/or load bearing actuators 330 is also possible. In some applications, a six degree-of-freedom motion simulation system may employ a minimum of six positioning actuator assemblies 340. However, in some embodiments, a six degree-of-freedom motion simulation system may be "overdriven" and include more than six positioning actuator assemblies 340. Similarly, the number of load bearing actuators 330 may also vary. In some applications, the arrangement and configuration of the positioning actuator assembly 340 and the load bearing actuator 330 described herein may be implemented using any other suitable motion simulation system described herein.

In some embodiments, the placement and location of the positioning actuator assembly 340 and/or the load bearing actuator 330 may be symmetrical or asymmetrical. The placement and location of the load bearing actuator 330 relative to the positioning actuator assembly 340 may also vary. Further, the shape of the base 310 and the shape of the platform 320 may vary, and these shapes may be symmetrical or asymmetrical. The arrangement and position of the joints relative to the base 310 and/or platform 320 may vary, such as being coplanar or non-coplanar, symmetrical or asymmetrical, etc.

As shown in fig. 11A-11G, in some embodiments, the motion simulation system may employ a circular platform 320 and a circular base 310. Referring to fig. 11A, one embodiment of a motion simulation system 300a includes six positioning actuator assemblies 340 and three load bearing actuators 330, each load bearing actuator 330 disposed between two adjacent positioning actuator assemblies 340.

In fig. 11B, one embodiment of a motion simulation system 300B includes nine positioning actuator assemblies 340 and three load bearing actuators 330, with each of the nine positioning actuator assemblies 340 being a group of three positioning actuator assemblies 340, with each load bearing actuator 330 disposed between separate groups.

In fig. 11C, one embodiment of a motion simulation system 300C includes six positioning actuator assemblies 340 and three load bearing actuators 330, with each two positioning actuator assemblies 340 of the six positioning actuator assemblies 340 being a group, with each load bearing actuator 330 disposed between separate groups.

In fig. 11D, one embodiment of the motion simulation system 300D includes six positioning actuator assemblies 340 and three load bearing actuators 330, with each two positioning actuator assemblies 340 of the six positioning actuator assemblies 340 being a set, each load bearing actuator 330 being disposed at a more central location on the base 310, thereby supporting a more central location of the platform 320.

In fig. 11E, one embodiment of the motion simulation system 300E includes six positioning actuator assemblies 340 and six load bearing actuators 330, with each two positioning actuator assemblies 340 in a group of six positioning actuator assemblies 340, with one load bearing actuator 330 disposed between each individual group, and the other three load bearing actuators 330 disposed at a more central location on the base 310, thereby supporting a more central location of the platform 320.

In fig. 11F, one embodiment of the motion simulation system 300F includes six positioning actuator assemblies 340 and nine load bearing actuators 330, one set for each two positioning actuator assemblies 340 in the six positioning actuator assemblies 340, one load bearing actuator 330 disposed between two positioning actuator assemblies 340 in each set and between each individual set, the other three load bearing actuators 330 disposed at a more central location on the base 310, thereby supporting a more central location of the platform 320.

In fig. 11G, one embodiment of a motion simulation system 300G includes seven positioning actuator assemblies 340 and three load bearing actuators 330, each load bearing actuator 330 disposed between two adjacent positioning actuator assemblies 340, and a seventh positioning actuator assembly 340 disposed at a more central location on the base 310, thereby supporting a more central location of the platform 320.

Fig. 12 is a perspective view of a motion simulation system 400 according to some embodiments. Fig. 13 is a perspective view of an integrated linear actuator unit 460 of the motion simulation system 400 of fig. 12, according to some embodiments. Fig. 14 is a side view of the integrated linear actuator unit 460 of fig. 13. Fig. 15 is a perspective view of the load bearing actuator 430 of the integrated linear actuator unit 460 of fig. 13, according to some embodiments. Referring to fig. 12-15, the motion simulation system 400 employs an integrated linear actuator unit 460 to support and position a load relative to a base 410 to provide motion information, signals, or other feedback to a user.

As shown therein, the platform 420 may support and position a load relative to the base 410. In some embodiments, the platform 420 may include one or more legs 422 forming a space frame for receiving, lifting, or otherwise supporting a load. The loaded portion may be attached or secured to the legs 422 of the platform 420. Legs 422 or other features of platform 420 may be adapted for any suitable load. In some embodiments, platform 420 may be any suitable shape or configuration. In some embodiments, the platform 420 may be symmetrical or asymmetrical, and may vary in other ways. Fig. 16 is a perspective view of a motion simulation system 400a according to some embodiments. As shown in fig. 16, for motion simulation system 400a, in some embodiments, platform 420a may have a flat or planar shape. In some embodiments, the platform 420a may have a generally circular or disc-like shape.

In the example shown, base 410 may support the weight of platform 420 and the load, as well as other components of motion simulation system 400. As shown, the base 410 may have a generally circular or disc-like shape. In some embodiments, the shape of the base 410 may be symmetrical or asymmetrical, and may vary in other ways.

As described herein, the platform 420 and any load may be supported and positioned in a desired attitude relative to the base 410 by one or more integrated linear actuator units 460. In the illustrated example, each integrated linear actuator unit 460 includes one load bearing actuator 430 for supporting the weight of the platform 420 and any load and a positioning actuator assembly 440 for positioning the platform 420 and any load, both disposed at least partially within a common housing 462 of the integrated linear actuator unit 460.

In the example shown, an integrated linear actuator unit 460 is connected to the platform 420 and the base 410. As shown, one end of the load bearing actuator 430 of the integrated linear actuator unit 460 may be coupled to the base 410 and the other end 436 of the load bearing actuator 430 may be coupled to the platform 420. In some embodiments, the end 436 may be connected to an end of the leg 422 or other suitable location of the platform 420. In some embodiments, the positions of the joints, connections, or ends of the integrated linear actuator units 460 with respect to the platform 420 and/or base 410 may be coplanar, non-coplanar, symmetrical, asymmetrical, or may otherwise vary. In some embodiments, the end 436 may be pivotally coupled to the base 410 and the platform 420. The end 436 may include a ball joint.

Before the motion simulation system 400 operates properly, the integrated linear actuator unit 460 may be extended to a desired length to act as a leg or otherwise support the support platform 420 and load in a desired attitude. As shown, each integrated linear actuator unit 460 includes a load bearing actuator 430 to support the platform 420 and any load in a desired relative attitude with respect to the base 410.

In the illustrated example, during normal operation, the load bearing actuator 430 supports the platform 420 and load without affecting the position of the platform 420. The load bearing actuator 430 is connected to a housing 462 of the integrated linear actuator unit 460. As shown, piston rod 434 of load bearing actuator 430 extends out of housing 462. In addition, one end 436 of the load bearing actuator 430 extends out of the opposite side of the housing 462.

In the illustrated example, during normal operation, the load bearing actuator 430 is a pneumatic actuator that uses gas pressure to elongate and support the platform 420 and load in a desired attitude. In some embodiments, the load bearing actuator 430 may include features similar to those of the load bearing actuator 130 and/or operate in a manner similar to the manner in which the load bearing actuator 130 operates. Unless otherwise noted, like reference numerals may be used for features of the load bearing actuator 430 that are similar to features of the load bearing actuator 130. In some embodiments, the load bearing actuator 430 may use other types of actuators including, but not limited to, gas struts, gas springs, elastic cords, linear springs, coil springs, and/or rotary springs.

In the illustrated example, the load bearing actuator 430 includes one or more surge tanks 438 in fluid communication with the cylinder 432 to provide additional dead volume for the cylinder 432. In some embodiments, the one or more surge tanks 438 may be coupled to the body of the cylinder 432. It is appreciated that the use of multiple buffer tanks 438 may allow for a desired dead volume while allowing for flexibility or configurability of the housing of the load bearing actuator 430. In some embodiments, the use of multiple buffer tanks 438 may allow for a relatively compact design while allowing for a desired dead volume such that the cylinders 432 and buffer tanks 438 are disposed in the housing 462 of the integrated linear actuator unit 460.

During operation of the motion simulation system 400, the integrated linear actuator unit 460 may be extended to a desired length to position the platform 420 and load in a desired pose. As shown, each integrated linear actuator unit 460 includes one positioning actuator assembly 440 for moving or positioning the platform 420 and load in a desired attitude relative to the base 410.

In the illustrated example, the positioning actuator assembly 440 may apply a force or otherwise act on the load bearing actuators 430 of the same integrated linear actuator unit 460 to position the platform 420 (in conjunction with or in cooperation with other integrated linear actuator units 460) in any six-dimensional pose with respect to heave, yaw, pitch, and roll in the motion space envelope of the motion simulation system 400. As shown, the positioning actuator assembly 440 is coupled to the load bearing actuator 430 and the housing 462 of the integrated linear actuator unit 460. In some embodiments, one end 448 of the link 446 is pivotally connected to the piston rod 434 of the load bearing actuator 430 at a joint 464. As shown, a joint 464 between the connecting rod 446 and the piston rod 434 may be provided between the cylinder 432 and one end of the piston rod 434. In some embodiments, the joint 464 may be provided in the housing 462 of the integrated linear actuator unit 460. Furthermore, the body of the positioning actuator may be connected with the housing 462 of the integrated linear actuator unit 460.

In the example shown, positioning actuator assembly 440 includes a positioning actuator for operating link 446 to thereby position piston rod 434 of load bearing actuator 430 to ultimately position platform 420 in a desired attitude. In some embodiments, the positioning actuator assembly 440 may include features similar to those of the positioning actuator assembly 140 and/or operate in a manner similar to the manner in which the positioning actuator assembly 140 operates. Unless otherwise noted, like reference numerals may be used for features of the positioning actuator assembly 440 that are similar to features of the positioning actuator assembly 140.

As described herein, the integrated linear actuator unit 460 may be arranged or otherwise disposed in any suitable arrangement relative to the base 410 and the platform 420. In the illustrated example, the integrated linear actuator unit 460 may be arranged to allow the motion simulation system 400 to move in six degrees of freedom. As shown, the motion simulation system 400 may include six integrated linear actuator units 460. The six integrated linear actuator units 460 may be arranged at equal intervals. In some embodiments, the integrated linear actuator units 460 may be arranged in a "linear hexapod" layout.

In operation, motion simulation system 400 may use integrated linear actuator unit 460 to place platform 420 and load in a desired pose or series of poses in response to position input. In the illustrated example, the controller of the motion simulation system 400 may receive a position input as a series of gesture vectors. In some applications, implementation of the integrated linear actuator unit 460 may simplify the mathematical complexity of the kinematic equations that convert the position input into the resulting motion of the motion simulation system 400.

Furthermore, the present disclosure describes various embodiments of human-machine interaction interfaces (human MACHINE INTERFACE, HMI). In some embodiments, the human-machine interaction interface may use a direct drive actuator to receive motion input from an operator and position an input of the interface to provide tactile feedback. The human-machine interaction interface or haptic device is capable of receiving input with six degrees of freedom and providing haptic feedback with six degrees of freedom. In some applications, the human-machine interaction interface may include features, structures, and/or configurations of the motion simulation system described herein. In some embodiments, such as certain low mass applications, the human-machine interaction interface may or may not include a weight bearing actuator.

Fig. 17 is a perspective view of a haptic device 500 according to some embodiments. Fig. 18 is a side view of the haptic device 500 of fig. 17. Referring to fig. 17 and 18, haptic device 500 receives motion input from an operator through input 502 and provides motion or haptic information, signals, or other feedback to a user through the same input 502. In some embodiments, input 502 may be a knob, joystick, mouse, or any other suitable input device or structure.

As shown, the platform 520 may support, position, and move the input 502 relative to the base 510. In the illustrated example, the platform 520 is shaped or configured to receive or otherwise support the input 502. Portions of the input 502 may be attached or otherwise secured to the platform 520. In some embodiments, the platform 520 may have a planar shape, such as a disk shape, to support the input 502 via a planar surface. In some embodiments, the shape of the platform 520 may be symmetrical or asymmetrical, and may vary in other ways.

In the illustrated example, the base 510 can support the weight of the platform 520, the input 502, and other components of the haptic device 500. As shown, the base 510 may have a generally triangular shape. In some embodiments, the shape of the base 510 may be symmetrical or asymmetrical, and may vary in other ways.

In some applications, one or more load bearing actuators 530 may support the weight of the platform 520, the input 502, and the weight applied by an operator relative to the base 510. In some embodiments, the load bearing actuator 530 may include features similar to those of the load bearing actuators described herein, including but not limited to the load bearing actuator 130 and/or the load bearing actuator 430, and may operate or be implemented in a manner similar to the manner in which the load bearing actuators described herein operate.

Before the haptic device 500 is properly operated, the load bearing actuator 530 may be extended to a desired length to support the platform 520 and the input 502 as a leg or other desired posture. In some embodiments, the load bearing actuator 530 for the haptic device 500 may use other types of actuators, including, but not limited to, gas struts, gas springs, elastic cords, linear springs, coil springs, and/or rotary springs.

The load bearing actuators 530 may be arranged or disposed in any suitable arrangement relative to the base 510 and platform 520, as described herein. For example, the haptic device 500 may include twice the number of positioning actuator assemblies 540 of the load bearing actuators 530. As shown, the haptic device 500 may include three weight bearing actuators 530. The load bearing actuators 530 may be equally spaced. In some embodiments, such as low mass applications, the haptic device 500 may use one or more positioning actuator assemblies 540 to support the weight of the platform 520, the input 502, and the weight applied by an operator relative to the base 510 without the use of load bearing actuators.

In the illustrated example, the haptic device 500 includes one or more positioning actuator assemblies 540 that are capable of receiving motion input from an operator and positioning the platform 520 and the input 502 relative to the base 510. In the illustrated example, the positioning actuator assembly 540 can receive motion input from an operator and position the platform 420 in any six-dimensional pose with respect to heave, yaw, pitch, and roll in the motion space envelope of the haptic device 500. In some embodiments, the positioning actuator assembly 540 may include features similar to those of the positioning actuator assembly described herein, including, but not limited to, the positioning actuator assembly 140 and/or the positioning actuator assembly 440, and may function or be implemented in a manner similar to the manner in which the positioning actuator assembly described herein operates.

The positioning actuator assembly 540 may be arranged or disposed in any suitable arrangement relative to the base 410 and the platform 420, as described herein. In the illustrated example, the positioning actuator assembly 540 may be arranged to allow the haptic device 500 to receive position input and/or move in six degrees of freedom. As shown, the haptic device 500 may include six positioning actuator assemblies 540. The six positioning actuator assemblies 540 may be equally spaced. As shown, the six positioning actuator assemblies 540 may be disposed in three "leg sets" disposed about the base 510 and connected to the platform 520. In some embodiments, the positioning actuator assemblies 540 may be arranged in a "six-foot-of-rotation" arrangement.

Advantageously, the direct attachment or connection between the components of the positioning actuator assembly 540 allows for the implementation of a direct drive mechanism or device. In addition to the performance advantages described herein, the direct drive of the positioning actuator assembly 540 allows an operator to make movements or other inputs through the input 502 and/or the platform 520 to provide operator position input to other devices, such as a computer. During operation, movement of the input 502 and/or the platform 520 may energize or back drive the positioning actuator assembly 540 to generate signals responsive to operator position input.

In the illustrated example, control of the haptic device 500 may receive operator position input through signals received from the positioning actuator assembly 540. During operation, the controller of the haptic device 500 may convert or translate the signals of the positioning actuator assembly 540 into signals that can be used by a connected device (e.g., a computer) as position input signals. In some embodiments, the controller of the haptic device 500 may provide the desired position input signal to the connected device using a suitable method (e.g., forward kinematics).

Further, as described herein with respect to other embodiments, the haptic device 500 may use the positioning actuator assembly 540 to place the platform 520 and the input 502 in a desired pose or series of poses in response to position input, thereby providing haptic feedback to an operator. In the illustrated example, the controller of the haptic device 500 may receive haptic or positional input as a series of gesture vectors. In some embodiments, the controller of haptic device 500 may include features similar to those of the controller described herein, including but not limited to the controller of motion simulation system 100, and may function or be implemented in a manner similar to the manner in which the controller described herein operates.

It will be further understood that, although the terms first, second, etc. may be used herein to describe various elements in some instances, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. For example, a first valve may be referred to as a second valve, and similarly, a second valve may be referred to as a first valve, without departing from the scope of the various embodiments described. The first valve and the second valve are both valves, but they are not the same valve unless explicitly stated.

The terminology used in the description of the various embodiments herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used in the description of the various embodiments described and in the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

As used herein, the term "if" is optionally interpreted as "when" or "in response to a determination" or "in response to a detection" or "according to a determination" depending on the context. Similarly, the phrase "if determined" or "if detected [ the condition or event ]" is optionally interpreted as "after determination" or "in response to determination" or "after detection [ the condition or event ]" or "in response to detection [ the condition or event ]" or "in accordance with determination of detection [ the condition or event ]" depending on the context.

The foregoing description of the specific embodiments has been presented for purposes of illustration. However, the illustrative discussions above are not intended to be exhaustive or to limit the scope of the claims to the precise forms disclosed. Many modifications and variations are possible in light of the above teaching. These embodiments were chosen in order to best explain the principles of the claims and their practical application, to thereby enable others skilled in the art to best utilize the embodiments with various modifications as are suited to the particular use contemplated.

Claims

1. A motion simulation system, comprising:

Load bearing actuator, comprising:

a cylinder defining a cavity; and

a piston rod at least partially disposed within the cavity of the cylinder, wherein a first end of the piston rod and the cavity of the cylinder define a volume of the cylinder, and wherein the volume of the cylinder is configured to be pressurized to support the weight of a load; and

A positioning actuator assembly comprising:

a positioning actuator comprising a stator and a rotor configured to rotate relative to the stator; and

A connecting rod is connected to the rotor, wherein the rotor is configured to rotate to translate the connecting rod and position the load supported by the load bearing actuator.

2. The motion simulation system according to claim 1 further comprises: a second positioning actuator assembly, wherein the second positioning actuator assembly is configured to cooperate with the positioning actuator assembly to position the load supported by the load-bearing actuator.

3. The motion simulation system according to claim 1 further includes: a plurality of additional load-bearing actuators and a plurality of additional positioning actuator assemblies, wherein the plurality of additional load-bearing actuators are configured to be pressurized to cooperate with the load-bearing actuator to support the weight of the load, and the plurality of additional positioning actuator assemblies are configured to cooperate with the positioning actuator assembly to position the load supported by the load-bearing actuator and the plurality of load-bearing actuators.

4. The motion simulation system of claim 3, wherein the plurality of additional weight bearing actuators comprises two additional weight bearing actuators and the plurality of additional positioning actuator assemblies comprises five additional positioning actuator assemblies.

5 . The motion simulation system according to claim 1 , further comprising a platform, wherein the platform is connected to the second end of the piston rod and the connecting rod, and the platform is configured to support the load.

6. The motion simulation system of claim 1, wherein the weight bearing actuator includes a surge tank defining a dead volume, the dead volume being in fluid communication with the volume of the cylinder.

7. The motion simulation system of claim 6, wherein the range of motion of the first end of the piston rod relative to the cavity of the cylinder defines a working volume, and the dead volume is about 100% to about 500% of the working volume.

8. The motion simulation system of claim 1, wherein the volume of the cylinder is pressurized by vibrating the first end of the piston rod relative to the cylinder.

9. The motion simulation system of claim 1, wherein the positioning actuator assembly includes a crank pivotally connected to the rotor and the connecting rod.

10. The motion simulation system of claim 9, wherein the crank is integrally formed with the rotor.

11. The motion simulation system of claim 1 further comprising a linear actuator housing, wherein the load bearing actuator and the positioning actuator assembly are at least partially disposed in the linear actuator housing.

12. The motion simulation system according to claim 11, wherein one end of the connecting rod is pivotally connected to the piston rod between the first end and the second end of the piston rod.

13. The motion simulation system of claim 1, further comprising a controller configured to control operation of the load-bearing actuator and the positioning actuator.

14. The motion simulation system of claim 13, wherein the controller is configured to pressurize the volume of the cylinder to a pressure to minimize current consumption by the positioning actuator.

15. The motion simulation system of claim 13, wherein the controller is configured to control operation of the positioning actuator at a frequency of up to about 1000 Hz.

16. The motion simulation system of claim 1, further comprising an electrical energy storage device for receiving energy generated by the positioning actuator.

17. A motion simulation system comprising:

Pedestal;

a platform movable relative to the base and configured to support a load;

A plurality of load-bearing actuators, wherein each load-bearing actuator comprises:

a cylinder pivotally connected to the base, wherein the cylinder defines a cavity; and

a piston rod having a first end and a second end, wherein the first end is at least partially disposed in the cavity of the cylinder to define a volume of the cylinder, the second end is pivotally connected to the platform, and the volume of the cylinder is configured to be pressurized to support the platform; and

A plurality of positioning actuator assemblies, wherein each positioning actuator assembly comprises:

a positioning actuator connected to the base, the positioning actuator comprising a stator and a rotor configured to rotate relative to the stator; and

A link includes a first end pivotally connected to the rotor and a second end pivotally connected to the platform, wherein the rotor is configured to rotate to translate the link and position the load supported by the plurality of load-bearing actuators.

18. The motion simulation system of claim 17, wherein the number of positioning actuator assemblies in the plurality of positioning actuator assemblies is twice the number of weight-bearing actuators in the plurality of weight-bearing actuators.

19. The motion simulation system of claim 18, wherein the plurality of weight bearing actuators comprises three weight bearing actuators and the plurality of positioning actuator assemblies comprises six positioning actuator assemblies.

20. A motion simulation system according to claim 18, wherein the second end of the piston rod of the first load-bearing actuator among the plurality of load-bearing actuators is arranged close to the second end of the connecting rod of the first positioning actuator assembly and the second end of the connecting rod of the second positioning actuator assembly among the plurality of positioning assemblies.

21. The motion simulation system of claim 17, wherein the platform is movable in six degrees of freedom relative to the base.

22. The motion simulation system of claim 17, wherein the platform comprises a plurality of legs, wherein the second end of the piston rod of each of the plurality of load-bearing actuators is connected to a corresponding one of the plurality of legs of the platform.

23. The motion simulation system of claim 22, wherein each of the plurality of weight bearing actuators includes a surge tank defining a dead volume in fluid communication with the volume of the cylinder.

24. The motion simulation system of claim 23, wherein the range of motion of the first end of the piston rod relative to the volume of the cylinder defines a working volume, and the dead volume is about 100% to about 500% of the working volume.

25. The motion simulation system of claim 17, wherein the volume of the cylinder of each of the plurality of weight bearing actuators is pressurized by vibrating the first end of the piston rod relative to the cylinder.

26. The motion simulation system of claim 17, wherein each of the plurality of positioning actuator assemblies comprises a crank pivotally coupled to the rotor and the connecting rod.

27. The motion simulation system of claim 26, wherein the crank is integrally formed with the rotor.

28. The motion simulation system of claim 17, further comprising a plurality of linear actuator housings, wherein a corresponding load-bearing actuator among the plurality of load-bearing actuators and a corresponding positioning actuator assembly among the plurality of load-bearing actuators are at least partially disposed in a common linear actuator housing among the plurality of linear actuator housings.

29. The motion simulation system of claim 28, wherein one end of the connecting rod of the corresponding positioning actuator assembly is pivotally connected to the piston rod of the corresponding load-bearing actuator between the first end and the second end of the piston rod.

30. The motion simulation system of claim 17, further comprising a controller configured to control operation of the plurality of load bearing actuators and the plurality of positioning actuator assemblies.

31. A motion simulation system according to claim 30, wherein the controller is configured to pressurize the volume of each corresponding cylinder of the plurality of load-bearing actuators to a pressure to minimize the current consumption of each corresponding positioning actuator in the plurality of positioning actuator assemblies.

32. The motion simulation system of claim 30, wherein the controller is configured to control operation of each of the plurality of positioning actuator assemblies at a frequency of up to about 1000 Hz.

33. The motion simulation system of claim 17, further comprising an electrical energy storage device for receiving energy generated by the positioning actuator.

34. A method of operating a motion simulation system, the method comprising:

pressurizing a plurality of load-bearing actuators to support the platform relative to the base;

The platform is moved by driving a plurality of positioning actuators of a corresponding plurality of positioning actuator assemblies, wherein each positioning actuator assembly is pivotally connected to the platform via a corresponding link of the plurality of positioning actuator assemblies.

35. The method of claim 34, further comprising:

detecting a current draw of each of the plurality of detent actuator assemblies; and

The plurality of load bearing actuators are pressurized to a desired pressure to minimize current consumption by each of the plurality of positioning actuator assemblies.

36. The method of claim 34, further comprising:

Prior to pressurizing the plurality of load bearing actuators, the platform is supported by a plurality of positioning actuators.

37. The method of claim 34, further comprising:

The plurality of load bearing actuators are vibrated to stress each respective load bearing actuator.

38. The method of claim 34, further comprising:

The platform is moved continuously in response to a sequence of gesture vectors at a flow frequency of up to about 1000 Hz.

39. The method of claim 34, further comprising:

determining a respective rotational position of each of the plurality of detent actuator assemblies; and

A gain factor for each detent actuator assembly is adjusted based on a comparison of the respective rotational position of each of the plurality of detent actuator assemblies with a desired rotational position of each of the plurality of detent actuator assemblies.

40. The method of claim 34, further comprising:

generating electrical energy from movement of the plurality of positioning actuator assemblies;

storing the electrical energy from the plurality of positioning actuator assemblies in an electrical energy storage device; and

Deploy the electrical energy in the electrical energy storage device.

41. A non-transitory computer-readable storage medium storing instructions configured to cause a processor of a device to at least perform:

detecting a current draw of each of the plurality of detent actuator assemblies;

42. The instructions of claim 41 , further configured to cause a processor of the device to at least perform:

The plurality of positioning actuator assemblies are continuously driven at a flow frequency of up to about 1000 Hz in response to a series of attitude vectors.

43. The instructions of claim 41 , further configured to cause a processor of the device to at least perform:

determining a respective rotational position of each of the plurality of detent actuator assemblies;

comparing the respective rotational position of each of the plurality of detent actuator assemblies to a desired rotational position of each of the plurality of detent actuator assemblies; and