Education and demonstration – Vehicle operator instruction or testing – Flight vehicle
Reexamination Certificate
2001-01-29
2003-07-15
Cheng, Joe H. (Department: 3713)
Education and demonstration
Vehicle operator instruction or testing
Flight vehicle
C434S029000, C434S030000, C434S062000
Reexamination Certificate
active
06592374
ABSTRACT:
BACKGROUND OF THE INVENTION
This invention relates to a motion simulator, and particularly an improved motion simulator in which occurrence of undesired moving sensations are eliminated during the creation of moving sensations using gravity and thereby creation of a moving sensation which is more similar to the actual situation is possible.
Generally, a motion simulator refers to a device which simulates motions of objects such as an airplane or an automobile and allows people to feel moving sensations within a limited space.
As a general motion simulator such as the above, a 6 DOF (degree of freedom) motion simulator (
100
) in which a movable frame (
120
) is driven by six actuators (
131
,
132
,
133
,
134
,
135
,
136
) is depicted in
FIGS. 1
to
3
b.
As depicted in
FIG. 1
, the conventional 6 DOF motion simulator(
100
) has a structure which includes a stationary frame (
110
), a movable frame (
120
), and a plurality of actuators (
131
,
132
,
133
,
134
,
135
,
136
).
Said stationary frame (
110
) is installed fixedly against the ground (gravity field). Said movable frame (
120
) is disposed above the gravitational direction of the stationary frame (
110
). A passenger compartment (
140
) is disposed on the top surface of said movable frame (
120
).
Said plurality of actuators (
131
,
132
,
133
,
134
,
135
,
136
) are disposed between the stationary frame (
110
) and the movable frame (
120
). Electric, hydraulic, or pneumatic actuators are generally used for each of said actuators.
Said each actuator (
133
,
132
,
133
,
134
,
135
,
136
) is rotatably connected at both ends thereof by respective pairs of universal joints (
131
a
and
131
b
,
132
a
and
132
b
,
133
a
and
133
b
,
134
a
and
134
b
,
135
a
and
135
b
,
136
a
and
136
b
).
The conventional 6 DOF motion simulator (
100
) configured as the above allows the passenger (
170
) in the passenger compartment (
140
) to feel moving sensations similar to those felt when actually riding an airplane or automobile by driving the plurality of actuators (
131
,
132
,
133
,
134
,
135
,
136
) and thereby moving the movable frame (
120
).
For instance, for a racing car that has suddenly taken off and continues to accelerate, the passenger feels sensations of being pulled backward due to acceleration, and this sensation is continued while acceleration after start is being progressed.
To create such sensation, the motion simulator (
100
) drives the plurality of actuators (
131
,
132
,
133
,
134
,
135
,
136
) and firstly accelerates the movable frame (
120
) forward, as depicted in
FIG. 2
a
. In the above case, the passenger (
170
) within the passenger compartment (
140
) feels a pulling sensation from the rear to the force of inertia.
However, because the range of motion of the motion simulator (
100
) has a limit, the movable frame (
120
) which has been accelerated and moved forward shortly falls within this limit. At this time, as depicted in
FIG. 2
b
, when the front of the movable frame (
120
) is lifted, the passenger (
170
) continues to feel said sensation due to gravity.
On the other hand, as another example, for an automobile turning along a large curve, the passenger feels a pushing sensation to the outer direction of the curve due to centrifugal force, and continues to feel this sensation while the turning is being progressed.
To create such sensation, the motion simulator (
100
) actuates the plurality of actuators (
131
,
132
,
133
,
134
,
135
,
136
) and firstly accelerates the movable frame (
120
) to the side director, as depicted in
FIG. 3
a
. In the above case, the passenger (
170
) within the passenger compartment (
140
) feels a sensation of being pushed in the opposite direction of said movement due to the force of inertia.
However, also for this case, because the range of motion of the motion simulator (
100
) has a limit, the movable frame (
120
) which has been accelerated and moved to the side direction shortly falls within this limit. At this time, as depicted in
FIG. 3
b
, when the side of the movement direction of the movable frame (
120
) is lifted, the passenger (
170
) continues to feed said sensation.
On the other hand, in
FIGS. 4
to
6
, as another example of the conventional motion simulator, a 3 DOF motion simulator (
101
) of which the movable frame (
120
) is driven by three actuators (
131
′,
132
′,
133
′) is depicted.
According to
FIGS. 4
to
6
, the configuration of the conventional 3 DOF motion simulator (
101
) is identical to that of the 6 DOF motion simulator except that the former has three actuators (
131
′,
132
′,
133
′ and that it is provided with a separate support member (
150
) to limit the occurrence of unintended forward/backward linear motion, left/right linear motion, and rotating motion centered on the top, bottom axes perpendicular to the surface of the movable frame (
120
).
Therefore, in describing the configuration of the 3 DOF motion simulator (
101
), same reference numbers are designated for parts identical to those of the 6 DOF motion simulator, and the descriptions thereof are omitted.
Meanwhile, as mentioned above, because all motions of the movable frame (
120
) can not be restrained with only the actuators (
131
′,
132
′,
133
′), in the depicted conventional 3 DOF motion simulator (
101
), there is provided a separate support member (
150
) for limiting the occurrence of unintended motion to the movable frame (
120
).
Said support member (
150
) is composed of a cylinder (
151
) which is fixed on the stationary frame (
110
), a piston (
152
) which moves up and down along said cylinder, and a universal joint (
153
) which connects said piston and the movable frame (
120
)
In the case of the conventional 3 DOF motion simulator (
101
) configured as the above, because there is no DOF to the horizontal direction, that is, the direction perpendicular to gravity, when creating continuous accelerating motion or rotating motion as mentioned above, only the force of gravity is used.
Namely, to create a linear accelerating sensation, the motion simulator (
101
) drives the plurality of actuators (
131
′,
132
′,
133
′) and lifts the front of the movable frame (
120
) and thereby allows the passenger (
170
) to feel a rearward pulling sensation, as depicted in FIG.
5
.
In addition, to create rotating movement, the motion simulator (
101
) drives the plurality of actuators (
131
′,
132
′,
133
′) and lifts one side of the movable frame (
120
) and thereby allows the passenger (
170
) to feel a pushing sensation to the other side, as depicted in FIG.
5
.
However, according to the conventional motion simulator (
100
,
101
) configured as the above, both simulators have a structure in which the center of gravity of the passenger (
170
) is above the center of rotation of the movable frame (
120
).
Due to the above, when representing acceleration from continuous linear acceleration or from centrifugal motion to the side direction, that is, when the movable frame (
120
) is tilted to utilize gravity, there is the problem of occurrence of undesired acceleration.
This awkward sensation (that is, force) may be expressed with the following equation
A
p
=A
v
+A×R
pv
+&ohgr;×&ohgr;×R
pv
Wherein, A
p
is the acceleration vector felt by the passenger of the motion simulator, A
v
is the acceleration vector of the moving movable frame of the motion simulator, A is rotational acceleration vector of the movable frame, R
pv
is the relative position vector of the passenger on top of the motion plate, and &ohgr; is the rotational velocity vector.
The awkward sensation is sum of the calculation value of the cross product of A and R
pv
vectors, which as A×R
pv
, and the calculation value of the cross product of &ohgr;, &ohgr;, R
pv
vectors, which is &ohgr;×&ohgr;×R
pv
.
Namely, n the structure of conventional motion simulators (
100
,
101
), because the center of gravity of the p
Cheng Joe H.
Sughrue & Mion, PLLC
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