KR102775368B1 - Crank type motion platform and motion platform control method - Google Patents

Abstract

The present invention relates to a crank-type motion platform, comprising: a lower base fixedly installed on the ground; an upper base spaced apart from an upper side of the lower base; at least three actuators installed on the lower base and controlling the upper base; a plurality of control motors respectively installed on the actuators; and a control module controlling a rotation angle of the control motors; wherein the actuators include a rotating part including a driving shaft rotated by the control motor; a crank pin connected to the driving shaft and rotating around the driving shaft; and a connecting rod having one end connected to the crank pin and transmitting a rotational force to the upper base; and when the crank pin and the connecting rod of one actuator are arranged in parallel and reach a maximum distance, the control module controls the other end of the connecting rod of one actuator to be lowered and the other end of the connecting rod of the other actuator to be moved in the direction in which one actuator is arranged.

Description

{CRANK TYPE MOTION PLATFORM AND MOTION PLATFORM CONTROL METHOD}

The present invention relates to a crank-type motion platform and a method for controlling the motion platform, and more specifically, to a crank-type motion platform having multiple degrees of freedom that enables a virtual experience of the movement of a specific object, and a method for controlling the same.

A motion platform is a device that imitates the movement of a specific object such as a vehicle, airplane, or tank, and is a device that provides a more realistic experience to the user, mainly through compatibility with virtual reality technology. At this time, the motion platform can provide some degrees of freedom (DoF) among Sway, Serge, Heave, which are linear movements in the X, Y, and Z directions, and Roll, Pitch, and Yaw, which are rotational movements in the X, Y, and Z directions, and is also called a Stewart Platform or Motion Base depending on the field.

As a technology related to the above motion platform, Korean Patent Publication No. 10-2021-0049328 (hereinafter referred to as “prior art”) is disclosed. As illustrated in FIG. 1, the above prior art is configured to include a lower plate (1), an upper plate (2), and an actuator (3) to implement a 6-DOF motion platform to which a 360-degree rotating body is attached. In addition, the actuators (3) are configured to provide a motion platform having 6 degrees of freedom by arranging six in a cylinder shape. As such, most of the currently known motion platforms generally have six linear actuators connected to the upper plate and the lower plate via a universal joint in a Stewart manner.

Recently, as the application fields of motion platforms have expanded to military, leisure, automobile, and entertainment, and the appropriate operating method varies depending on the movement of a specific object, motion platforms that utilize pneumatic cylinders, hydraulic cylinders, or electromagnetic motors are being developed, moving beyond the existing linear actuator method. Among these, when motors such as stepping motors or servo motors are utilized, they have the advantage of being widely used because of low manufacturing and maintenance costs.

However, since the development of a motion platform using a current motor is insufficient, there is a problem that the performance is low compared to the existing linear actuator, and when the connecting rod connected to the motor reaches the limit of the hardware operation range, such as the maximum distance, it is difficult to apply the washout algorithm based on the existing linear actuator, making it difficult to implement control that is not noticeable to the passenger.

KR 10-2021-0049328 A (2021.05.06. release)

The present invention has been made to solve the problems of the prior art, and the purpose of the present invention is to provide a crank-type motion platform and a motion platform control method that can be controlled so that a user does not perceive the return process when a connecting rod connected to a motor reaches a maximum distance and returns to an original position.

In order to achieve the above-described purpose, the crank-type motion platform according to the present invention comprises: a lower base fixedly installed on the ground; an upper base spaced apart from an upper side of the lower base; at least three actuators installed on the lower base to control the upper base; a plurality of control motors respectively installed on the actuators; and a control module for controlling a rotation angle of the control motors; wherein the actuators include a rotating part including a driving shaft rotated by the control motor; a crank pin connected to the driving shaft and rotating around the driving shaft; and a connecting rod having one end connected to the crank pin to transmit a rotational force to the upper base; and when the crank pin and the connecting rod of one actuator are arranged in parallel and reach a maximum distance, the control module can control the other end of the connecting rod of one actuator to be lowered and the other end of the connecting rod of the other actuator to be moved in the direction in which one actuator is arranged.

In addition, the control module controls the crank pin to have a rotation range of Ψ°, and when the crank pin and the connecting rod of one of the actuators are arranged in parallel and reach a maximum distance, the control module can lower the other end of the connecting rod of one of the actuators until the crank pin is arranged at a position of 2/Ψ°. (Here, 0<Ψ<360)

In addition, the crank pins may be formed in a pair, with a pair of crank pins being connected to each end of the drive shaft, and one end of the connecting rod may be connected to a pair of crank pins.

In addition, the connecting rod includes a bracket in the shape of the letter 'ㄷ' that is opened in one direction in which the driving shaft is arranged, and a pair of reinforcing members that are joined to one end of the bracket, and a pair of the reinforcing members and a pair of the crank pins can be joined, respectively.

In addition, the connecting rod can be adjusted so that the reinforcing member can be adjusted in both directions of the bracket.

In addition, the actuator may further include a piston part including a first connecting member coupled to the other end of the connecting rod, a second connecting member connected to the upper base, and a connecting joint that rotatably connects the first connecting member and the second connecting member to each other.

Additionally, the piston part can be formed as a universal joint.

In addition, the crank-type motion platform control method for the crank-type motion platform described above includes a driving progress step in which the control module controls the posture of the upper base by controlling the actuator according to an input signal; a first actuator control step in which the control module lowers the other end of the connecting rod of one of the actuators when one of the actuators reaches the maximum distance; and a second-third actuator control step in which the control module moves the other end of the connecting rod of the other actuator in the direction in which the one of the actuators is arranged when one of the actuators reaches the maximum distance; and the control module can return to the driving progress step when the crank pin of one of the actuators, the other end of the connecting rod of which is lowered, is arranged at a position of 2/Ψ°.

Additionally, the control module can output relevant information through the display until the crank pin of one of the actuators, from which the other end of the connecting rod is lowered, is positioned at a position of 2/Ψ° when one of the actuators reaches the maximum distance.

The crank-type motion platform and the motion platform control method according to the present invention with the above-described configuration have an advantage in that, when one actuator reaches its maximum length, the piston part of one actuator descends and the piston parts of other actuators move to one actuator, so that even during the return operation of one actuator, the passenger can continuously feel the driving sensation while not feeling the return operation, thereby increasing the level of immersion. In addition, the crank-type motion platform and the motion platform control method according to the present invention can lead to the effect of implementing more diverse forms of driving through the above-described advantages.

In addition, the crank-type motion platform and the motion platform control method according to the present invention have the advantage of improved ride comfort because the device can be operated more stably through a length-adjustable reinforcing member and a pair of crank pins.

Figure 1 is a drawing illustrating a motion platform according to conventional technology.
FIG. 2 is a drawing illustrating a boarding chamber utilizing a crank-type motion platform according to the present invention.
Figure 3 is a perspective view of a crank-type motion platform according to the present invention.
Figure 4 is a front view of a crank-type motion platform according to the present invention.
Figure 5 is a side view of a crank-type motion platform according to the present invention.
Figure 6 is a perspective view of a driver according to the present invention.
Figure 7 is a front view of a driver according to the present invention.
Figure 8 is a flow chart of a control method for a crank-type motion platform according to the present invention.
Figures 9 to 11 are schematic diagrams of a control method for a crank-type motion platform according to the present invention.

Hereinafter, the crank type motion platform and the motion platform control method according to the present invention will be described in detail with reference to the attached drawings. The drawings introduced below are provided as examples so that those skilled in the art can sufficiently convey the idea of the present invention. Therefore, the present invention is not limited to the drawings presented below and may be embodied in other forms. In addition, the same reference numerals represent the same components throughout the specification.

Unless otherwise defined, the technical and scientific terms used herein have the meaning commonly understood by a person of ordinary skill in the art to which this invention pertains, and the description of well-known functions and configurations that may unnecessarily obscure the gist of the present invention in the following description and accompanying drawings are omitted.

In addition, the terminology used in this specification is only used to describe specific embodiments and is not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, it should be understood that the terms "comprise" or "have" and the like are intended to specify that a feature, number, step, operation, component, part or combination thereof described in the specification is present, but do not exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

FIGS. 2 and 3 relate to a crank-type motion platform according to the present invention. FIG. 2 is a drawing showing a boarding chamber utilizing a crank-type motion platform, and FIG. 3 is a perspective view of the crank-type motion platform, respectively.

Referring to FIG. 2, the crank-type motion platform (10) according to the present invention includes a control module (20) and can be utilized in compatibility with a VR simulator, etc. At this time, a space where a user can board and experience, such as a boarding chamber (30), may be provided on the upper side of the crank-type motion platform (10) according to the present invention, and a display (40) that can be viewed by an internal user or an external user may be installed. For example, the boarding chamber (30) is configured as a space for simulating the operation of a tracked vehicle, etc. in a box shape, and provides the user with various environments for operating an actual tracked vehicle, thereby reproducing the movement, vibration, noise, shock, etc. of an actual tracked vehicle, thereby maximizing the sense of immersion in training. In addition, the control module (20) can control the crank-type motion platform (10) based on the input signal operated in the boarding chamber (30) to adjust the posture of the boarding chamber (30), and the posture of the boarding chamber (30) can be changed according to the stored images and data of the control module (20). Here, the boarding chamber can be formed in any shape as long as the internal space and the external space are formed separately according to the design conditions.

Referring to FIG. 3, a crank-type motion platform (10) according to the present invention may include a lower base (110), an upper base (120), a plurality of actuators (200), and a plurality of control motors (300). Here, the lower base (110) may be fixedly installed on the ground, and the upper base (120) may be spaced apart from the upper side of the lower base (110) to support the boarding chamber (30), etc. described above, and change the posture. In addition, the plurality of actuators (200) may be installed on the upper surface of the lower base (110) and adjust the posture of the upper base (120) by the control motors (300) installed therein. At this time, the plurality of actuators (200) may be configured to include a first actuator (200a), a second actuator (200b), and a third actuator (200c).

The lower base (110) may be installed on the ground, etc., and may be provided with wheels (casters) with locking devices on the lower side that is supported on the ground so that it can be moved smoothly, or may have through holes formed in the front and rear so that a fork of a forklift can be inserted into the lower side, or may have a separate hook provided on the upper side or side so that it can be caught on a crane, etc. Here, the wheel (caster) means a wheel that rolls to easily move a heavy object. In addition, the lower base (110) is illustrated as having wheels in a square shape, but the present invention is not limited thereto, and it goes without saying that it can be implemented in a plate shape of various shapes such as polygonal shapes such as triangles, hexagons, circles, or curved shapes.

The upper base (120) is configured to perform multi-degree-of-freedom movements such as heave, rolling, and pitching by a plurality of actuators (200), and is connected to a plurality of actuators (200) on the lower side, and a configuration such as the boarding chamber (30) can be installed on the upper side. At this time, the upper base (120) can be implemented as a plate shape of various shapes such as a polygonal shape such as a triangle, square, hexagon, or a curved shape, and may also be in a form in which a plurality of frames are connected to each other integrally.

A plurality of actuators (200) may be spaced apart radially from each other based on a vertical center line, and when the actuators (200) are composed of three, they may be spaced apart from each other in a triangular shape. In FIG. 3, three actuators (200) are illustrated, but the present invention may include four or more actuators (200) and may be spaced apart radially. In addition, the present invention prevents the center of gravity from being tilted to one side in a standby state before a simulation operation by arranging the actuators (200) radially, thereby preventing the load from being concentrated to one side during normal times.

In addition, the crank-type motion platform (10) according to the present invention may further include a sensor, and the sensor may detect the status of a plurality of actuators (200) or confirm the position of the upper base (120). At this time, it may be preferable that the sensor be composed of a plurality of sensors so as to confirm the positions of three points where the first actuator (200a), the second actuator (200b), and the third actuator (200c) are respectively installed. Accordingly, the sensor may be composed of a sensor that detects position or displacement, and may be installed to detect the position of a predetermined point or measure a length like a linear encoder. In addition, the control module (20) is connected to the sensor to check the position of each actuator (200) and the posture of the upper base (120) to diagnose a fault, check whether there is an error in operation, etc., and if there is a difference in the position that should be controlled by the control command, feedback control can be performed by the amount of difference, and if it is determined that normal operation is difficult with feedback control, a fault alarm can be generated. Or, as described below, the sensor can detect a situation in which the actuator (200) reaches the maximum distance, and the control module (200) can control each actuator (200) through this.

FIGS. 4 and 5 relate to a crank-type motion platform according to the present invention. FIG. 4 shows a front view of the crank-type motion platform, and FIG. 5 shows a side view of the crank-type motion platform, respectively.

Referring to FIGS. 4 and 5, the actuator (200) may include a support member (210), a rotating member (220), a crank pin (230), a connecting rod (240), and a piston member (250). At this time, the support member (210) may be coupled with the lower base (110), and the piston member (250) may be coupled with the upper base (120).

The above-mentioned rotating part (220) may have a driving shaft (221) that is coupled to the support part (210) and rotates through the control motor (300), and the crank pin (230) may rotate around the driving shaft (221).

The above crank pins (230) are configured as a pair and can be respectively connected to the left and right ends of the drive shaft (221) extending in the left and right directions. In addition, the pair of crank pins (230) can be rotated to have the same angular velocity with the same drive shaft (221).

The above connecting rod (240) can be connected to a pair of the above crank pins (230). At this time, when one end of the above crank pin (230) is connected to the above driving shaft (221), the other end of the above crank pin (230) can be connected to the above connecting rod (240). Accordingly, the above connecting rod (240) can be raised or lowered according to the rotation of the above crank pin (230). In addition, the raising or lowering of the above connecting rod (240) can be transmitted to the above piston part (250) to change the position of the above upper base (120).

Since each actuator (200) can be configured as described above, rotational motion in the forward/backward direction (Pitch) and rotational motion in the left/right direction (Roll) can be possible. For example, when the connecting rod (240) of the actuator (200) located at the front side among three actuators (200) rises higher than the connecting rod (240) of the actuator (200) located at the rear side, the front of the upper base (120) is lifted upward and tilted, and conversely, when the connecting rod (240) of the actuator (200) located at the rear side is moved higher than the connecting rod (240) of the actuator (200) located at the front side, the rear side of the upper base (120) is lifted upward and tilted.

The piston part (250) connects between the connecting rod (240) and the upper base (120), and may be formed with a universal joint or the like to connect the connecting rod (240) and the upper base (120) so that they can rotate on different axes. The connecting rod (240) is configured so that one end is rotatably connected to each of a pair of crank pins (230) and the upper end is connected to each other, and may be formed in a 'ㄷ' shape that is open to the side where the driving shaft (221) is arranged, and may be provided to surround a part of the rotating part (220). At this time, the piston part (250) may be rotatably coupled to the upper end of the upper portion connected to the connecting rod (240).

In addition, as another example, the connecting rod (240) may be provided so that a pair of connecting rods (240) are rotatably connected to each of a pair of crank pins (230), and then the pair of connecting rods (240) are connected to each other by a piston portion (250).

The above actuator (200) is configured as a crank type in which a crank pin (230) rotates around a driving shaft (221) as an axis so that the crank pin (230) rotates, and a connecting rod (240) and a piston part (250) are also configured to rotate relative to each other, thereby reducing costs due to simplification of operation, and safely operating the equipment without mechanical collision even in the event of problems such as malfunction or noise of a control signal, and by reducing the rotational speed through a worm reducer and increasing the rotational torque due to the operation of a servo motor, it is possible to withstand the load of the upper frame (120) and the structure above it even when a low-power servo motor is used, thereby implementing flexible motion movements.

FIGS. 6 and 7 relate to a crank-type motion platform according to the present invention, with FIG. 6 showing a perspective view of an actuator and FIG. 7 showing a front view of the actuator, respectively.

Referring to FIGS. 6 and 7, the connecting rod (240) includes a bracket (241) in the shape of the letter “ㄷ” that is opened in one direction where the driving shaft (221) is arranged, and a pair of reinforcing members (242) coupled to one end of the bracket (241), and the pair of reinforcing members (242) and the pair of crank pins (230) can be hinge-coupled, respectively. At this time, the actuator (200) can further include a coupling shaft (231) that connects the crank pin (230) and the reinforcing member (242). Accordingly, the crank pin (230) can rotate while rising or falling. In addition, the reinforcing member (242) can be detachably coupled to the bracket (241), and the reinforcing member (242) can be installed so that its length is adjusted on the bracket (241). For example, a plurality of through holes spaced apart from each other in the longitudinal direction are formed in the reinforcing member (242), and one or more screw holes are formed in the bracket (241), so that a screw can be connected to the bracket (241) by passing through one of the plurality of through holes of the reinforcing member (242), thereby adjusting the length and allowing for connection.

The piston part (250) may include a first connecting member (251) coupled to the bracket (241) of the connecting rod (240), a second connecting member (252) coupled to the upper base (120), and a connecting joint (253) that rotatably connects the first connecting member (251) and the second connecting member (252). At this time, the piston part (250) may be formed as a universal joint or the like as described above, and the second connecting member (252) may include a pair of protruding ends (252a) and the connecting joint (253) may be arranged to penetrate the pair of protruding ends (252a). In addition, the connecting joint (253) may be bearing-coupled with the protruding ends (252a). And the first connecting member (251) can be inserted between a pair of the protruding ends (252a) and be bearing-coupled with the connecting joint (253), and the first connecting member (251) and the second connecting member (252) can be connected to the connecting joint (253) so as to rotate in different directions.

FIGS. 8 to 11 relate to a control method of a crank-type motion platform according to the present invention. FIG. 8 is a flowchart of a control method of a crank-type motion platform, FIG. 9 is a schematic diagram showing a change in attitude of a crank-type motion platform, FIG. 10 is a schematic diagram showing a first actuator control step, and FIG. 11 is a schematic diagram showing a second to third actuator control step, respectively.

Referring to Fig. 8, the control method of the crank-type motion platform according to the present invention for the crank-type motion platform (10) described above may be configured to include a driving progress stage, a first actuator control stage, and a second-third actuator control stage. At this time, the driving progress stage may be a stage in which the control module (20) controls the position of the upper base (120) by controlling the actuator (200) according to an input signal. That is, a plurality of the actuators (200) may vary the position of the upper base (120) according to an operation signal input by a user or a preset program.

When one of the plurality of actuators (200) reaches the maximum distance, the first actuator control step and the second to third actuator control steps may be performed. In addition, the first actuator control step and the second to third actuator control steps may be performed until one of the actuators (200) returns to the set position, and may be configured to return to the driving progress step when one of the actuators (200) returns.

The above first actuator control step may be a step in which the control module (20) lowers the other end of the connecting rod (240) of one actuator (200), wherein the other end of the connecting rod (240) may be an end of the connecting rod (240) that is not connected to the crank pin (230) but connected to the piston part (250).

The above 2-3 actuator control step may be a step in which the control module (20) moves the other end of the connecting rod (240) of the other actuator (200) in the direction in which the one actuator (200) is arranged, and here, the other end of the connecting rod (240) may be an end of the connecting rod (240) that is not connected to the crank pin (230) but connected to the piston part (250).

The above is an example according to an embodiment of three actuators (200), and in the case where it is composed of four or more actuators (200), when one actuator (200) reaches the maximum distance, some of the other actuators (200) can be controlled so that the other end of the connecting rod (240) moves in the direction in which one of the actuators (200) is arranged. At this time, when one of the actuators (200) is set in the forward driving direction, it can be formed so that the user can continuously feel the feeling of driving forward even during the return operation, and information related to the return can be output through the display (40) and guided to the user. Hereinafter, in the content described below, one of the actuators (200) is defined as the first actuator (200a), and the other actuators (200) are defined as the second actuator (200b) and the third actuator (200c).

Referring to FIG. 9, the crank pin (240) of the actuator (200) may be controlled to be rotatable 360° or may be formed to have a predetermined rotation range as illustrated. At this time, the rotation range may be set to Ψ° greater than 0° and less than 360°. In addition, the actuator (200) may set Ψ/2° as a reference position, and when the actuator (200) reaches a maximum distance, a return operation may be performed to lower the other end of the connecting rod (240) until the crank pin (240) has an angle of Ψ/2° with respect to the driving shaft (231). Here, the reference position may vary depending on the scenario and may be set between Ψ/2° ± γ°, where γ may have a value greater than or equal to Ψ/4 and less than Ψ/16. Figure 9 (a) shows the posture at the reference position, and Figures 9 (b) and 9 (c) show the posture at the upper and lower limits of the rotation range, respectively. At this time, the posture of the connecting rod (240) may vary depending on the posture of the connecting rod (240) of another actuator (200).

Referring to FIGS. 10 and 11, the maximum distance can be defined as the crank pin (230) and the connecting rod (240) of the first actuator (200a) being arranged in parallel. That is, the maximum distance can be defined when a line connecting the points where the crank pin (230) is connected to the driving shaft (221) and the connecting rod (240) and a line connecting the points where the connecting rod (240) is connected to the crank pin (230) and the piston portion (250) are connected. As shown in (a) of Fig. 10, when the first actuator (200a) reaches the maximum distance, the connecting rod (240) of the first actuator (200a) can be controlled to descend, and the driving shaft (221) and the crank pin (230) can be rotated by the control motor (300) so that the connecting rod (240) can be descended. Here, the point where the connecting rod (240) is connected to the piston part (250) can be the position of the connecting joint (252). In this way, the connecting rod (240) of the first actuator (200a) that has reached the maximum distance can be descended and restored to the reference position, and Fig. 10 (b) illustrates that the reference position is defined as Ψ/2°. At the same time, the ends of the connecting rods (240) of the second driver (200b) and the third driver (200c) can be controlled to move in the direction in which the first driver (200a) is located, and FIG. 11 illustrates that the first driver (200a) is controlled to be located in the left direction in the drawing. At this time, the control of the second driver (200b) and the third driver (200c) can continue until the crank pin (230) of the first driver (200a) reaches the reference position. In addition, the first driver (200a), the second driver (200b), and the third driver (200c) can be controlled at a slow speed so that the user does not feel that they are returning, and the user can feel that the vehicle is traveling in the direction in which the first driver (200a) is located through the above control.

Although the present invention has been described with specific details such as specific components and limited example drawings, this has only been provided to help a more general understanding of the present invention, and the present invention is not limited to the above-described embodiment, and those skilled in the art to which the present invention pertains can make various modifications and variations from this description.

Therefore, the idea of the present invention should not be limited to the described embodiments, and all things that are equivalent or equivalent to the scope of the patent claims as well as the scope of the patent claims are included in the scope of the idea of the present invention.

10: Crank-type motion platform
20 : Control module
30: Boarding chamber
40 : Display
110 : Lower Base
120 : Upper base
200 : Driver
200a: 1st drive unit
200b: 2nd drive
200c: 3rd drive
210 : Support
220 : Rotating part
221 : Drive shaft
230 : Crank pin
231 : Coupling axis
240 : Connecting rod
241 : Bracket
242 : Reinforcing member
250 : Piston part
251: First connecting member
252: Second connecting member
252a : protrusion
253 : Connecting joint
300 : Control motor

Claims (9)

In a control method of a crank-type motion platform,
The above crank-type motion platform is,
A lower base that is fixed to the ground;
An upper base spaced apart from the upper side of the lower base;
At least three actuators installed on the lower base and controlling the upper base;
A plurality of control motors each installed in the above actuator; and
A control module for adjusting the rotation angle of the above control motor;
Including,
The above actuator,
It includes a support part having a lower end connected to the lower base; a rotating part including a drive shaft connected to an upper end of the support part and rotated by the control motor; a crank pin connected to the drive shaft and rotating around the drive shaft; and a connecting rod having one end connected to the crank pin and transmitting rotational force to the upper base.
When the crank pin and connecting rod of one of the above actuators are arranged in parallel and reach the maximum distance,
The above control module,
Controlling the other end of the connecting rod of one of the above actuators to be lowered and the other end of the connecting rod of another above actuator to be moved in the direction in which one of the above actuators is arranged;
The above control module,
Control the above crank pin to have a rotation range of Ψ°,
When the crank pin and connecting rod of one of the above actuators are arranged in parallel and reach the maximum distance,
The above control module,
The other end of the connecting rod of one of the above actuators is lowered until the crank pin is placed at the reference position, (where, 0< Ψ <360)
The three above mentioned actuators are,
They are arranged radially apart from each other based on the center line,
Each of the above actuators,
The control motor is positioned to extend in a direction oriented with respect to the center line based on the above support member,
The control method of the above crank-type motion platform is:
A driving progress step in which the above control module controls the attitude of the upper base by controlling the actuator according to the input signal;
A first actuator control step in which the control module lowers the other end of the connecting rod of one of the actuators when the one of the actuators reaches the maximum distance;
When one of the above actuators reaches the maximum distance, a 2-3 actuator control step in which the control module moves the other end of the connecting rod of another of the above actuators in the direction in which the one of the above actuators is arranged;
Including,
The control module is,
When the crank pin of one of the above actuators, which lowers the other end of the connecting rod, is placed at the reference position, it returns to the above driving progress stage,
The above reference position is variable depending on the input scenario and is set between Ψ/2° ± γ°.
The above γ is formed with a value greater than or equal to Ψ/4 and less than Ψ/16,
A control method for a crank-type motion platform, characterized in that when one of the above actuators reaches a maximum distance, the other end of the connecting rod is lowered, and related information is output through a display until the crank pin of one of the above actuators is positioned at a reference position.
delete In the first paragraph,
The above crank pins are made up of a pair,
A pair of the above crank pins are respectively connected to both ends of the above drive shaft,
A control method for a crank-type motion platform, characterized in that one end of the above connecting rod is connected to a pair of the above crank pins.
In the third paragraph,
The above connecting rod,
It includes a bracket in the shape of the letter 'ㄷ' that is opened in one direction on which the above driving shaft is arranged, and a pair of reinforcing members that are joined to one end of the bracket.
A control method for a crank-type motion platform, characterized in that a pair of the above-mentioned reinforcing members and a pair of the above-mentioned crank pins are respectively combined.
In paragraph 4,
The above connecting rod,
A control method for a crank-type motion platform, characterized in that the reinforcing member is adjusted in both directions of the bracket.
In the first paragraph,
The above actuator,
A piston part including a first connecting member connected to the other end of the connecting rod, a second connecting member connected to the upper base, and a connecting joint that rotatably connects the first connecting member and the second connecting member to each other;
A control method for a crank-type motion platform, characterized by further including:
In Article 6,
The above piston part,
A control method for a crank-type motion platform characterized by being formed with a universal joint. delete delete