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公开(公告)号：US20240359315A1
公开(公告)日：2024-10-31
申请号：US18564977
申请日：2022-05-30
申请人： Dynisma Ltd.
CPC分类号： B25J9/0009 , B25J9/0078 , B25J9/1623 , B25J19/007
摘要： According to a first aspect of the invention there is provided a motion generator comprising an effector for applying forces, moments and movements to an effector pay load relative to a surface connected to one or more elongate rigid struts, each strut being connected at one end thereof by a first joint to the effector and being connected at its other end by a second joint to an associated rocker, the rocker comprising a rocker arm and having a pivot axis which is generally parallel with the surface, such that the movement of the rocker arm through a generally vertical are about the pivot axis leads to movement of the effector, and forces applied to an associated rocker lead to forces being applied to the effector, in which the movement of a rocker and forces applied by the rocker are controlled by an actuator, the actuator being in the form of, or comprising an elongate belt, cable, or rope drive which is connected by either end thereof to an associated rocker to apply a force to a point on the associated rocker away from the pivot axis of the rocker, the motion generator further comprising means for applying tension to the belt, cable or rope drive during movement of an associated rocker.
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公开(公告)号：US20220215771A1
公开(公告)日：2022-07-07
申请号：US17611313
申请日：2020-05-15
申请人： DYNISMA LTD.
IPC分类号： G09B9/05
摘要： According to a first aspect of the invention there is provided a motion generator comprising an effector for applying forces, moments and movements to a payload relative to a surface connected to one or more elongate rigid struts, each strut being connected at one end thereof by a first joint to the effector and being connected at its other end by a second joint to an associated rocker, the rocker having a pivot axis, such that movement of a rocker about the pivot axis leads to movement of the effector, and forces applied to an associated rocker lead to forces being applied to the effector, in which the movement of a rocker and forces applied by the rocker are controlled by an actuator, the actuator being in the form of an elongate belt, cable, rope drive, or linear motor arranged to apply a force to a point on an associated rocker away from the pivot axis of the rocker. According to a second aspect of the invention there is provided a motion generator comprising an effector for applying forces, moments and movements to a payload relative to a surface, the effector being connected to four, or more elongate rigid struts, each strut being connected at one end thereof by a first joint to the effector and being connected at its other end by a second joint to an associated rocker, the rocker having a pivot axis, such that movement of a rocker leads to movement of the effector, and forces applied to an associated rocker lead to forces being applied to the effector, in which the movement of a rocker and forces applied by the rocker are controlled by an actuator, the actuator being arranged to apply a force to a point on an associated rocker away from the pivot axis of the rocker. The invention also relates to motion systems, and driving simulators including such motion generators, and to methods using such motion generators and systems.
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公开(公告)号：US20230001313A1
公开(公告)日：2023-01-05
申请号：US17756848
申请日：2021-01-06
申请人： DYNISMA LTD.
摘要： The invention relates to a motion generator comprising an end effector which moves relative to a surface, the end effector being moved by at least six actuation mechanisms, in which each actuation mechanism comprises an elongate tensioned member connected at one of its ends to the end effector, whereby the end effector is suspended above the surface by the tensioned members, and at the other of its ends to an associated rocker of the same actuation mechanism, whereby the rocker is mounted to be pivotable about an axis which is fixed relative to the surface, and in which, when a rocker is actuated, the associated tensioned member and the end effector are moved. The invention also relates to motion systems and simulators comprising such motion generators, as well as to methods of operation and production.
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公开(公告)号：US11538353B2
公开(公告)日：2022-12-27
申请号：US17256400
申请日：2019-07-05
申请人： DYNISMA LTD.
摘要： This invention relates inter alia to a motion generator which comprises: an end effector; a stationary support having a base; at least one first tensile member, and at least six second tensile members, wherein each of the at least one first tensile member and the at least six second tensile members comprises a elastic element and each of which tensile members being attached at one end thereof to the end effector and being attached at the other end thereof to the stationary support; in which each tensile member applies a tensile force between the end effector and the stationary support, and in which each one of the at least six tensile members is independently adjustably tensioned by an actuator fixed to the stationary support which acts on the tensile member at a point along its length between the end effector and the elastic element, wherein the actuator acts to change the tension in the part of the tensile member between the end effector and the actuator in order to affect the forces and moments applied to the end effector by the system, wherein the actuator reacts the tensile force it applies to the tensile member against the stationary support, and wherein the tensile force applied by each tensile member to the end effector reacts against the tensile forces applied by the other tensile members via the end effector such that the end effector is maintained in suspension and out of contact with the stationary support by the tensile forces in the tensile members and any other forces applied to the end effector.
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公开(公告)号：US20220254268A1
公开(公告)日：2022-08-11
申请号：US17617201
申请日：2020-06-11
申请人： DYNISMA LTD.
IPC分类号： G09B9/05
摘要： This invention relates to a three degree of freedom motion generator for moving a payload above the surface, the motion generator comprising a rotatable platform arranged for rotation on a circular guide above the surface, at least three linear guides extending ray-wise above the surface from a centre, each linear guide having a linear guide carriage moveable thereon, a peripheral guide carriage pivotally mounted on each linear guide carriage about the periphery of the rotatable platform, and a plurality of actuators, whereby at least one actuator may be operated to exert a force between a peripheral guide carriage on the circular guide and the rotatable platform. Other aspects include a motion system, and vehicle driving simulators including such a motion generator.
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公开(公告)号：US20220355191A1
公开(公告)日：2022-11-10
申请号：US17804387
申请日：2022-05-27
申请人： DYNISMA LTD.
摘要： This invention relates to motion generators comprising: an end effector, a stationary support, a first set of elastic elements interconnecting the end effector and the stationary support; a set of tensile members; in which the end effector is supported within the stationary support by the elastic elements; and a set of actuators in which the motion generator further comprises at least six rockers each rocker being pivotally mounted at one end thereof on the stationary support, and each rocker having a free end; the set of tensile members comprising: at least six elongate tensile members, each elongate tensile member having one end connected to a rocker and the other end connected to one of a second set of elastic elements which are fixed; a set of connecting elements connecting each rocker to the end effector and in which each one of the set of tensile members is independently adjustably tensioned by an associated actuator to move the free end of the rocker, which rocker movement causes movement of a connected connecting element leading to movement of the end effector.
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公开(公告)号：US11369868B2
公开(公告)日：2022-06-28
申请号：US17256415
申请日：2019-07-08
申请人： DYNISMA LTD.
摘要： This invention relates to motion generators comprising: an end effector, a stationary support, a first set of elastic elements interconnecting the end effector and the stationary support; a set of tensile members; in which the end effector is supported within the stationary support by the elastic elements; and a set of actuators in which the motion generator further comprises at least six rockers each rocker being pivotally mounted at one end thereof on the stationary support, and each rocker having a free end; the set of tensile members comprising: at least six elongate tensile members, each elongate tensile member having one end connected to a rocker and the other end connected to one of a second set of elastic elements which are fixed; a set of connecting elements connecting each rocker to the end effector and in which each one of the set of tensile members is independently adjustably tensioned by an associated actuator to move the free end of the rocker, which rocker movement causes movement of a connected connecting element leading to movement of the end effector.
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公开(公告)号：US20220180765A1
公开(公告)日：2022-06-09
申请号：US17439071
申请日：2020-04-27
申请人： Dynisma Ltd.
摘要： This invention relates to the field of motion systems especially for simulating motion such as driving or flying. In particular, though not exclusively, the invention relates to motion generators, and to systems including such motion generators, and to methods of using motion generators and motion systems for example as vehicle simulators. One aspect of the invention relates to a primary motion generator (10,82,102) for use in a motion simulator for moving a primary payload (14) of 80 kg or more above a surface (12), the primary motion generator (10,82,102) being a parallel manipulator comprising: a primary frame or platform (11) for supporting the primary payload of 80 kg or more (14), three elongate linear guides (21,22,23) arranged transversely to each other below the frame in a planar array, at least one actuator (31,32,33) arranged per linear guide (21,22,23) above the surface, and controllable to move the linear guides (21,22,23) whereby the primary payload of 80 kg or more is movable in at least three degrees of freedom.
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公开(公告)号：US20210268369A1
公开(公告)日：2021-09-02
申请号：US17256415
申请日：2019-07-08
申请人： DYNISMA LTD.
摘要： This invention relates to motion generators comprising: an end effector, a stationary support, a first set of elastic elements interconnecting the end effector and the stationary support; a set of tensile members; in which the end effector is supported within the stationary support by the elastic elements; and a set of actuators in which the motion generator further comprises at least six rockers each rocker being pivotally mounted at one end thereof on the stationary support, and each rocker having a free end; the set of tensile members comprising: at least six elongate tensile members, each elongate tensile member having one end connected to a rocker and the other end connected to one of a second set of elastic elements which are fixed; a set of connecting elements connecting each rocker to the end effector and in which each one of the set of tensile members is independently adjustably tensioned by an associated actuator to move the free end of the rocker, which rocker movement causes movement of a connected connecting element leading to movement of the end effector.
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公开(公告)号：US20210158719A1
公开(公告)日：2021-05-27
申请号：US17256400
申请日：2019-07-05
申请人： DYNISMA LTD.
摘要： This invention relates inter alia to a motion generator which comprises: an end effector; a stationary support having a base; at least one first tensile member, and at least six second tensile members, wherein each of the at least one first tensile member and the at least six second tensile members comprises a elastic element and each of which tensile members being attached at one end thereof to the end effector and being attached at the other end thereof to the stationary support; in which each tensile member applies a tensile force between the end effector and the stationary support, and in which each one of the at least six tensile members is independently adjustably tensioned by an actuator fixed to the stationary support which acts on the tensile member at a point along its length between the end effector and the elastic element, wherein the actuator acts to change the tension in the part of the tensile member between the end effector and the actuator in order to affect the forces and moments applied to the end effector by the system, wherein the actuator reacts the tensile force it applies to the tensile member against the stationary support, and wherein the tensile force applied by each tensile member to the end effector reacts against the tensile forces applied by the other tensile members via the end effector such that the end effector is maintained in suspension and out of contact with the stationary support by the tensile forces in the tensile members and any other forces applied to the end effector.
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