Motion simulator

Claim 2

A motion simulator capable of imparting motion to a payload in at least three degrees of freedom, comprising in combination: a. a movable platform capable of supporting such a payload and in combination with said payload providing a center of mass, upon which can be defined an orthogonal X, Y and Z coordinate axis system, corresponding to a longitudinal, lateral and vertical reference axis respectively; b. three substantially separated points of support on said platform defining the corners of a triangular base, said base when oriented in a substantially vertical plane, the perpendicular to said plane lies substantially parallel to the longitudinal axis defined at the center of mass of said movable platform and payload combination; c. a first fixed support base in a second plane spaced substantially aft of said movable platform; d. three generally coincident points of support on said fixed support base in proximity to each other and the longitudinal axis extended from the center of mass on said movable platform; and e. a first means for imparting substantially pure longitudinal forces and displacements to the center of mass of said combined movable platform and payload, and imparting substantially pure rotational moments and displacements in the pitch and yaw degrees of motion about said center of mass, said means comprising three extensible and retractable actuators each having one of its ends connected to a respective one of the generally coincident points on said fixed support base and its opposite end connected to a respective one of the separated points of support on said movable platform, to thereby generally form a tetrahedral arrangement of actuators having its base defined by the triangular base in said first plane on said movable platform and its apex defined by the three generally coincident points of support on said first fixed support base.

Claim 3

A motion simulator in accordance with that of claim 1, including in combination: a. a second fixed support base spaced laterally from said movable platform, defining a single fixed point of supportt in a third plane; b. a fourth point of support located on said movable platform; and c. a second means for imparting substantially pure lateral forces and displacements to the center of mass of said combined movable platform and payload comprising, a fourth extensible and retractable actuator having one of its ends connected to said single fixed point of support on said second fixed support base and its opposite end connected to said fourth point of support on said movable platform.

Claim 4

A motion simulator in accordance with that of claim 2, comprising in combination: a. a third fixed support base vertically spaced from said movable platform, defining two points of support in a fourth plane; b. a fifth and sixth point of support on laterally opposite sides of said movable platform; and c. a third means for imparting substantially pure vertical forces and displacements to the center of mass of said combined movable platform and payload and imparting substantially pure roll moments and displacements about said center of mass in conjunction with the pitch, yaw and longitudinal motions provided by the tetrahedral arrangement of said first three actuators and the lateral motion afforded by said fourth actuator, comprising, a fifth and sixth extensible and retractable actuator each having one of its ends connected to a respective one of said two laterally opposite points of support on said movable platform and its opposite end connected to a respective one of said fifth and sixth points of support on said third fixed support base, resulting in a full complement of six degrees of freedom to said platform and payload.

Claim 5

A motion simulator in accordance with that of claim 1, including in combination: a. a second fixed support base vertically spaced from said movable platform, defining two points of support in a third plane; b. a fourth and fifth point of support on laterally opposite sides of said movable platform; and c. a second means for imparting substantially pure vertical forces and displacements to the center of mass of said combined movable platform and payload and imparting substantially pure roll moments and displacements about said center of mass in conjunction with the pitch, yaw and longitudinal motions afforded by said tetrahedral arrangement of actuators, thereto comprising, a fourth and fifth extensible and retractable actuator each having one of its ends connected to a respective one of said two laterally opposite points of support on said movable platform and its opposite end connected to a respective one of said fourth and fifth points of support on said second fixed support base.

Claim 6

A motion simulator capable of imparting motion to a payload in at least three degrees of freedom, comprising in combination: a. a movable platform capable of supporting such a payload and in combination with said payload providing a center of mass, upon which can be defined an orthogonal X, Y, and Z coordinate axis system, corresponding to a longitudinal, lateral and vertical reference, respectively; b. three substantially separated points of support on said platform defining the corners of a triangular base, said base being oriented in a substantially vertical plane, wherein the perpendicular to said plane defined at the centroid of said triangular base coincides substantially with the longitudinal axis defined at the center of mass of said movable platform and payload combination; c. a first fixed support base in a second plane spaced substantially aft of said movable platform; d. three generally coincident points of support on said support base in proximity to each other about the longitudinal axis projected from the center of mass on said movable platform; and d. a first means for imparting substantially pure longitudinal forces and displacements to the center of mass of said combined movable platform and payload, and imparting substantially pure rotational moments and displacements in the pitch and yaw degrees of motion about said center of mass, said means comprising three extensible and retractable actuators each having one of its ends connected to a respective one of the generally coincident points on said fixed support base and its opposite end connected to a respective one of the separated points of support on said movable platform, to thereby generally form a tetrahedral arrangement of actuators having its base defined by the triangular base in said first plane on said movable platform and its apex defined by the three generally coincident points on said fixed support base.

Claim 7

A motion simulator capable of imparting motion to a payload in at least three degrees of freedom, comprising in combination: a. a movable platform capable of supporting such a payload and in combination with said payload providing a center of mass, upon which can be defined an orthogonal X, Y, and Z coordinate axis system, corresponding to a longitudinal, lateral and vertical reference, respectively; b. three substantially separated points of support on said platform defining the corners of a triangular base, said base being oriented in a substantially vertical plane, wherein the perpendicular to said plane defined at the centroid of said triangular base coincides substantially with the longitudinal axis defined at the center of mass of said movable platform and payload combination; c. a first fixed support base in a second plane spaced substantially aft of said movable platform; d. three generally coincident points of support on said support base in proximity to each other about the longitudinal axis projected from the center of mass on said movable platform; and d. a first means for imparting substantially pure longitudinal forces and displacements to the center of mass of said combined movable platform and payload, and imparting substantially pure rotational moments and displacements in the pitch and yaw degrees of motion about said center of mass, said means comprising three extensible and retractable actuators each having one of its ends connected to a respective one of the generally coincident points on said fixed support base and its opposite end connected to a respective one of the separated points of support on said movable platform, to thereby generally form a tetrahedral arrangement of actuators having its base defined by the triangular base in said first plane on said movable platform and its apex defined by the three generally coincident points on said fixed support base.

Claim 8

A motion simulator in accordance with that of claim 5 including in combination: a. a second fixed support base laterally spaced from said movable platform, defining a single point of support in a third plane; b. a fourth point of support laterally located on said movable platform between the center of mass of said combined movable platform and payload and the single point of support on said second fixed support base; and c. a second means for imparting substantially pure lateral forces and displacements to the center of mass of said combined movable platform and payload in conjunction with the pitch, yaw and longitudinal motions afforded by said tetrahedral arrangement of actuators comprising, a fourth extensible and retractable actuator having one of its ends connected to said single point of support on said second fixed support base and its opposite end connected to said fourth point of support on said movable platform.

Claim 9

A motion simulator in accordance with that of claim 6, comprising in combination: a. a third fixed support base vertically spaced from said movable platform, defining two spaced points of support in a fourth plane; b. a fifth and a sixth point of support laterally opposite sides of said movable platform; and c. a third means for imparting substantially pure vertical forces and displacements to the center of mass of said combined movable platform and payload and imparting substantially pure roll moments and displacements about said center of mass in conjunction with the pitch, yaw and longitudinal motions afforded by said tetrahedral arrangement of three actuators and the lateral motion provided by said fourth actuator comprising, a fifth and sixth extensible and retractable actuator each having one of its ends connected to a respective one of said two laterally opposite points of support on said movable platform and its opposite end connected to a respective one of said fifth and sixth point of support on said third fixed support base, resulting in a full complement of six degrees of freedom to said platform and payload.

Claim 10

A motion simulator in accordance with that of claim 5, including in combination: a. a second fixed support base vertically spaced from said movable platform, defining two spaced points of support in a third plane; b. a fourth and fifth point of support on laterally opposite sides of said movable platform; and c. a second means for imparting substantially pure vertical forces and displacements to the center of mass of said combined movable platform and payload and imparting substantially pure roll moments and displacements about said center of mass in conjunction with the pitch, yaw and longitudinal motions provided by said tetrahedral arrangement of actuators comprising, a fourth and fifth extensible and retractable actuator each having one of its ends connected to a respective one of said two laterally opposite points of support on said movable platform and its opposite end connected to a respective one of said fourth and fifth spaced points of support on said second fixed support base.