Motion generation apparatus

Abstract

A motion generation apparatus (1000); (2000) for a motion platform system has a plurality of motion control arrangements (1201), (1202), (1203) that include control members (1211), (1212), (1213) and couplings (1241), (1242), (1243) configured to engage respective inclined portions (1251), (1252), (1253) of the control members. Laterally driving the or each respective control member forces the or each respective coupling in a direction along an inclined path P1, P2, P3 to impart a vertical force to a portion (1801), (1802), (1803) of a motion platform (1800). Motion and positioning of the platform (1800) is determined by the combined movement and/or positioning of the control members (1211), (1212), (1213).

1 . A motion generation apparatus for a motion platform system, the apparatus comprising:
 a platform for supporting an occupant carrier;   a plurality of motion control arrangements each configured to independently provide motion control to a respective portion of the platform, and each comprising i) a respective control member and ii) a respective rotatable coupling coupled between the platform and the respective said control member; and   a plurality of actuation arrangements each configured independently to drive a respective said control member laterally in multiple lateral directions; wherein   at least one of the control members comprises an inclined portion, and a respective said coupling is configured to engage the respective inclined portion such that laterally driving the or each respective control member forces the or each respective coupling in a direction along an inclined path under control of the control member, to thereby impart a vertical component of drive force to a said respective portion of the platform;   motion and positioning of the platform laterally and vertically with multiple degrees of freedom being determined by the combined movement and/or positioning of the control members.   
     
     
         2 . The motion generation apparatus according to  claim 1 , wherein a plurality of the control members each comprises a respective said inclined portion and is configured to engage with a respective said coupling, such that laterally driving each respective said control member causes each respective said coupling to be driven under control of the respective control member along the respective inclined portion in a direction along a respective inclined path, to thereby impart a vertical component of drive force to a said respective portion of the platform. 
     
     
         3 . The motion generation apparatus according to  claim 2 , wherein the inclined paths extend generally towards an inner region of the platform in an at rest condition of the motion generation apparatus. 
     
     
         4 . The motion generation apparatus according to  claim 2 , comprising two rear motion control arrangements, the directions of the respective inclined paths of the rear motion control arrangements having an angle therebetween of from about 20° to 160°, preferably from about 90° to 140°, and more preferably of about 120°. 
     
     
         5 . The motion generation apparatus according to  claim 2 , wherein a respective angle vertically between the direction of a said inclined path and a laterally extending plane lies in a range from about 10° to about 45°, and preferably is about 16°. 
     
     
         6 . The motion generation apparatus according to  claim 1 , wherein the or each said coupling that is configured to engage the respective inclined portion is engaged so as to move freely along the respective said inclined path, motion of the or each said coupling being controlled by the or each respective control member. 
     
     
         7 . The motion generation apparatus according to  claim 1 , wherein each coupling comprises a carriage connected to the platform through a respective rotatable connector joint disposed between the or each respective carriage and the respective portion of the platform. 
     
     
         8 . The motion generation apparatus according to  claim 1 , wherein the or each rotatable coupling is fixed against translational movement of the or each coupling relative to the platform, while permitting rotational movement between the platform and the or each respective control member. 
     
     
         9 . The motion generation apparatus according to  claim 1 , wherein the or each rotatable coupling provides three degrees of rotational freedom of movement relative to the or each respective portion of the platform. 
     
     
         10 . The motion generation apparatus according to  claim 1 , comprising three or more said motion control arrangements, each associated with a respective one of said actuation arrangements. 
     
     
         11 . The motion generation apparatus according to  claim 1 , wherein the combined movement and/or positioning of all of the control members controls motion and positioning of the platform with three translational and three rotational degrees of freedom of movement. 
     
     
         12 . The motion generation apparatus according to  claim 1 , wherein the or each motion control arrangement comprises a respective guide configured to constrain movement of a respective said coupling to translation along a respective said inclined path. 
     
     
         13 . The motion generation apparatus according to  claim 12 , wherein the or each control member comprises a respective said guide, comprising one or more rails, extending along a respective said inclined portion, wherein optionally the or each coupling comprises a respective engaging portion, comprising a carriage including one or more rotatable wheels, configured to engage with a respective said guide of a respective said control member so that the or each coupling is guided along a respective said inclined path. 
     
     
         14 . (canceled) 
     
     
         15 . The motion generation apparatus according to  claim 1 , wherein the actuation arrangements include respective linear actuation devices having respective drive axes arranged at angles so as to be laterally in alignment with, or alternatively so as to be laterally out of alignment with, the respective inclined paths. 
     
     
         16 . (canceled) 
     
     
         17 . The motion generation apparatus according to  claim 1 , wherein at least one of the actuation arrangements comprises a respective plurality of stacked linear actuation devices, the or each actuation arrangement being independently connected, for independent force transmission, to the or each respective control member. 
     
     
         18 . (canceled) 
     
     
         19 . (canceled) 
     
     
         20 . (canceled) 
     
     
         21 . The motion generation apparatus according to  claim 1 , comprising two rear said actuation arrangements, each comprising a respective upper linear actuation device stacked on a respective portion of a common lower linear actuation device, the lower linear actuation device being arranged to independently drive the respective upper linear actuation devices along a common guide extending in a direction generally perpendicular to a front-back axis of the motion generation apparatus, for permitting an increased range of sway. 
     
     
         22 . The motion generation apparatus according to  claim 1 , comprising two rear said actuation arrangements and a front said actuation arrangement, the front actuation arrangement providing a greater extent of travel than each of the rear actuator arrangements in a direction generally perpendicular to a front-back axis of the motion generation apparatus, for permitting an increased range of sway. 
     
     
         23 . (canceled) 
     
     
         24 . (canceled) 
     
     
         25 . A motion platform system for simulating vehicular motion, comprising the motion generation apparatus according to  claim 1 . 
     
     
         26 . (canceled) 
     
     
         27 . A simulator for simulating vehicular motion, comprising:
 a movable frame to support occupant seating and controls;   three inwardly pointing control wedges having respective inwardly and upwardly directed inclined wedge faces;   three couplings each i) connected to a respective fixed location on the frame by a respective rotatable joint having three degrees of rotational freedom of movement, and ii) engaged with a respective one of the inclined faces for guided relative translational movement along the face; and   respective linear motors to respectively drive each of the respective wedges independently, in any desired horizontal direction;   motion of the frame with three rotational degrees of freedom and three translational degrees of freedom being controlled by operation of the linear motors.   
     
     
         28 . The simulator according to  claim 27 , the linear motors having drive axes respectively extending along front-back and sideways directions of the simulator, each of which directions is arranged at a lateral angle relative to the respective directions of guided movement of the couplings along each of the inwardly directed faces.