WO2024105105A1 - Apparatus and corresponding method for simulating driving a land vehicle - Google Patents

Apparatus and corresponding method for simulating driving a land vehicle Download PDF

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Publication number
WO2024105105A1
WO2024105105A1 PCT/EP2023/081910 EP2023081910W WO2024105105A1 WO 2024105105 A1 WO2024105105 A1 WO 2024105105A1 EP 2023081910 W EP2023081910 W EP 2023081910W WO 2024105105 A1 WO2024105105 A1 WO 2024105105A1
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WO
WIPO (PCT)
Prior art keywords
movement
base platform
motors
guide
planes
Prior art date
Application number
PCT/EP2023/081910
Other languages
French (fr)
Inventor
Diego MINEN
Original Assignee
Vi-Grade Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Vi-Grade Gmbh filed Critical Vi-Grade Gmbh
Publication of WO2024105105A1 publication Critical patent/WO2024105105A1/en

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Classifications

    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles

Definitions

  • the present invention concerns an apparatus, and corresponding method, for simulating, according to six or more degrees of freedom, driving a land vehicle such as primarily a car, bus, van, motorcycle, or other similar or comparable vehicle.
  • a land vehicle such as primarily a car, bus, van, motorcycle, or other similar or comparable vehicle.
  • the apparatus according to the present invention is able to reproduce in an extremely faithful manner any real driving condition of one of the aforementioned vehicles along predetermined routes and with driving modes determined by a driver.
  • the present invention can also be used for the driving training of specific personnel for particular activities and/or for simulating an unmanned driving experience for one or more passengers.
  • such apparatuses comprise a base platform, which may also consist of a floor, or any bedplate, an upper platform located above the base platform, and a driving station associated with the upper platform and in which a driver can be seated.
  • the driving station which usually comprises a seating element for a driver, command means such as a steering wheel, brake pedals, clutch, accelerator, etc., and a projection screen on which the driving environment in which the driver is immersed during the simulation is projected, is associated with the base platform by means of a movement unit comprising a plurality of telescopic linear actuators.
  • the movement unit is defined by a hexapod kinematics, that is, formed by six distinct telescopic linear actuators, or by a kinematics formed by a smaller number of actuators, mounted on the base platform.
  • Another purpose of the present invention is to provide an apparatus for simulating driving a land vehicle that guarantees extensive movement excursions of the upper platform, without incurring into interferences between the elements that make up the movement unit.
  • Another purpose of the present invention is to provide an apparatus for simulating driving a particularly rigid land vehicle, and therefore capable of guaranteeing high performance in terms of the system’s dynamic response times.
  • Another purpose of the present invention is to provide an apparatus for simulating driving a land vehicle capable of making the best use of the installation space also for the simulation.
  • - curvilinear or linear guide means mounted on the base platform, lying on guide planes parallel to the movement planes, and on which the first joints of the rods are supported sliding.
  • base platform is to be understood as any type of bedplate whatsoever, or even a simple floor.
  • the movement planes comprise a first and a distinct second movement plane.
  • two adjacent connecting rod-crank mechanisms are able be moved on the first movement plane and on the distinct second movement plane, respectively, parallel to each other and disposed at different heights with respect to a reference plane of the base platform.
  • the guide planes comprise a first and a distinct second guide plane.
  • the guide planes are coincident.
  • the guide planes are parallel to each other and disposed at a same height with respect to the reference plane of the base platform.
  • the guide means can be curvilinear.
  • the guide means comprise a pair of rails, each defining a respective flat circular trajectory.
  • the motors may be angularly spaced with respect to a central point of the base platform.
  • the motors may be angularly spaced from the central point of the base platform in a different way.
  • the motors are configured to generate a motion of rotation around respective axes of rotation parallel to each other and substantially vertical.
  • the axes of rotation of two adjacent motors are located at different distances with respect to the central point.
  • Some variants comprise dispositions in which one or more motors are overlapping each other, therefore with coaxial axes of rotation, or in which the motors are all located at the same distance from the central point, therefore with axes of rotation disposed on a same circumference, with its center in the central point.
  • the motors are rotary electric motors able to be driven independently of each other and managed by a control unit of the apparatus on the basis of command actions given by a user or of a pre-set simulation program.
  • the motors are rotary electric motors, equipped with stator and rotor.
  • a brake unit can be advantageously associated with each of the motors.
  • each brake unit can be of the mechanical type.
  • each brake unit of the mechanical type can comprise at least one interference member configured to generate a pressure on a rotating part of a respective motor.
  • the interference member can be or comprise a brake caliper, or other similar elements.
  • each brake unit can be of the magnetic type.
  • Some embodiments of the present invention also concern a method for simulating driving a land vehicle which provides to position a base platform on a rest surface and to move a driving station, installed on an upper platform, by means of a movement unit mounted on the base platform.
  • the movement unit determines a movement of the driving station, both linear of translation as well as rotary, with respect to axes (x, y, z) of a set of three orthogonal Cartesian axes integral with the base platform by means of a coordinated and selective drive of six motors which move respective connecting rod-crank mechanisms on horizontal movement planes, to which respective rigid rods are connected, with a first lower end thereof, the rigid rods in turn being connected, with an opposing second upper end, to the upper platform by means of first and second joints, respectively, the first joints being sliding on curvilinear or linear guide means mounted on the base platform and lying on guide planes which are parallel to the movement planes.
  • - fig. 1 is a three-dimensional view of an apparatus for simulating driving a land vehicle, according to the present invention
  • - fig. 2 is a three-dimensional view of the apparatus of fig. 1 without the driving station;
  • - fig. 3 is a top view of fig. 2;
  • - fig. 4 is a lateral view of fig. 2 in which the base and upper platform are schematized with a dashed line;
  • - fig. 5 is a three-dimensional view of another embodiment of the apparatus for simulating driving a land vehicle, according to the present invention;
  • FIG. 6 is a three-dimensional view of another embodiment of the apparatus for simulating driving a land vehicle, according to the present invention.
  • - fig. 7 is a lateral view of fig. 6;
  • - fig. 8 is a three-dimensional view showing a motor with a corresponding brake unit.
  • an apparatus 10 for simulating driving a land vehicle comprises a substantially flat base platform 11 , an upper platform 12, also substantially flat, and a driving station 13 installed on the upper platform 12.
  • the base platform 11 can also be understood as the same floor of the location where the apparatus 10 is located, or any resting bedplate whatsoever.
  • the apparatus 10 can also comprise a projection screen, not shown in the drawings, disposed in front of the driving station 13 and onto which a driving environment is projected to immerse a user during the simulation.
  • the projection screen can be of any size, with no limits on height and/or angular extension.
  • the projection screen can be fixed or movable.
  • the driving station 13 can comprise a frame, which at least partly reproduces the passenger compartment of the land vehicle, in which there are mounted a seat and command means for the user, such as a steering wheel, pedals, and an instrument panel, not shown in the drawings.
  • the apparatus 10 also comprises a movement unit 14 mounted on the base platform 11 and connected to the upper platform 12 to determine a movement of the driving station 13, both linear of translation as well as rotary, with respect to axes, or directions, x, y, z of a set of three orthogonal Cartesian axes (x, y, z) integral with the base platform 11.
  • the rotation of the driving station 13 in a first direction x is called roll
  • in a second direction y is called pitch
  • in a third direction z is called yaw.
  • the apparatus 10 allows to simulate driving a land vehicle in at least six degrees of freedom.
  • the movement unit 14 comprises six connecting rod-crank mechanisms 15 able to be moved on horizontal movement planes Ml, M2 (fig. 4) and connected to respective motors 16 mounted on the base platform 11.
  • the motors 16 are distinct and independent of each other.
  • the rods 19 can have the same length or different lengths.
  • the rods 19 have a linear development and are supported sliding, in correspondence with their first joints 21, on guide means 23.
  • the guide means can be curvilinear (figs. 1-5) or linear (fig. 6, 7).
  • the guide means 23 are mounted on the base platform 11 and lie on guide planes Gl, G2 (fig. 4 and fig. 7) which are parallel to the movement planes Ml, M2 on which the connecting rod-crank mechanisms 15 are able to be moved.
  • the curvilinear guide means 23, as explained in more detail below, are represented here as two concentric circumferences, one with a larger radius and one with a smaller radius, on which the ends of a first set of three and a second set of three connecting rod-crank mechanisms 15, respectively, are able to be moved.
  • the guide means 23 could be represented by arcs or circular segments, or even by curvilinear segments, based on the travel required for the connecting rod-crank mechanisms 15.
  • the guide means 23 can be linear and therefore essentially defined by linear segments or sections, on each of which, respectively, an end of one of the connecting rod-crank mechanisms 15 is able to be moved, fig. 6.
  • the movement of the connecting rod-crank mechanisms 15, driven in a coordinated manner by the motors 16 managed by a control unit of the apparatus 10, for example on the basis of command actions of the user, or of a pre-set simulation program, allows to determine a sliding, along the curvilinear or linear guide means 23, of the lower end 19a of the rods 19, causing an inclination in space thereof with respect to the upper platform 12, which therefore undergoes corresponding displacements and rotations with respect to the axes x, y, z of the set of three orthogonal Cartesian axes (x, y, z).
  • two adjacent connecting rod-crank mechanisms 15 are able be moved on a first movement plane Ml and on a distinct second movement plane M2, respectively.
  • the first movement plane Ml and the second movement plane M2 are parallel to each other and substantially horizontal.
  • the first movement plane Ml and the second movement plane M2 can be disposed at different heights, for example with respect to a reference plane 17 of the base platform 11 , see for example fig. 4.
  • adjacent connecting rod-crank mechanisms 15 can be able to be moved on a same movement plane Ml, M2.
  • the first movement plane Ml and the second movement plane M2 can be disposed at a same height with respect to the reference plane 17 of the base platform 11, see for example fig. 7.
  • the first movement table Ml and the second movement table M2 are coincident.
  • first joints 21 provided at the lower ends 19a of the rods 19 connected to adjacent connecting rod-crank mechanisms 15 are supported sliding on respective curvilinear or linear guide means 23 lying on a first guide plane G 1 and on a distinct second guide plane G2.
  • the first guide plane Gl and the second guide plane G2 are parallel to each other and substantially horizontal.
  • the first guide plane G1 and the second guide plane G2 can be disposed at different heights, for example with respect to a reference plane 17 of the base platform 11, see for example fig. 4.
  • first joints 21 can be able to be moved on respective guide means 23 that can lie on a same guide plane Gl, G2.
  • the first guide plane Gl and the second guide plane G2 can be disposed at a same height, for example with respect to the reference plane 17 of the base platform 11, see for example fig. 7. In this case, the first guide plane Gl and the second guide plane G2 are coincident.
  • the motors 16 are installed on the reference or base surface 17, which is flat and substantially horizontal.
  • the reference surface 17 is a bottom surface of the base platform 11.
  • the reference surface 17 can be defined by a flat wall.
  • the base platform 11 is substantially in the shape of a disk.
  • the motors 16 are angularly spaced with respect to a central point C of the reference surface 17, fig. 3.
  • the central point C can correspond to the center of the circumference.
  • the motors 16 may, but not necessarily, be equally spaced angularly, in this specific case with a spacing angle equal to 60°.
  • Two or more motors 16 could also be disposed overlapping each other, or according to other reciprocal geometric dispositions.
  • the motors 16 are configured to generate a motion of rotation around respective substantially vertical axes of rotation V.
  • the motors 16 are preferably rotary electric motors, equipped with stator and rotor.
  • the axes of rotation V of the motors 16 are substantially orthogonal to the reference surface 17 and parallel to each other.
  • each motor 16 can comprise its own drive shaft 18 rotatable around the corresponding axis of rotation V and connected to the respective connecting rod-crank mechanism 15.
  • Each connecting rod-crank mechanism 15 comprises, in a manner known per se, a first element, or crank, 15a connected to the drive shaft 18 of the respective motor 16, and a second element, or connecting rod, 15b connected, by means of a cylindrical joint having an axis of rotation orthogonal to the movement planes Ml, M2, to a terminal end of the first crank element 15a.
  • the axes of rotation V of two adjacent motors 16 are located at different distances LI, L2 with respect to the central point C.
  • a pair of adjacent motors 16 can have respective axes V at a first distance L 1 and at a second distance L2 which are different, as indicated in fig. 3, wherein the first distance LI is greater than the second distance L2.
  • the axes of rotation V of the motors 16 are all located at the same distance with respect to the central point C.
  • the motors 16 are located with their own axes of rotation V disposed on a same circumference with the center in the central point C.
  • two or more adjacent motors 16 can be coaxial, therefore the respective axes of rotation V are coincident.
  • each of the motors 16 can be associated with a brake unit 34, shown in fig. 8.
  • the brake unit 34 can be of the mechanical type.
  • Each brake unit 34 of the mechanical type comprises at least one interference member 34a configured to generate a pressure on a rotating part 16a of the respective motor 16.
  • the interference member 34a can be, by way of example, a brake caliper.
  • each brake unit 34 can be of the magnetic type or a combination of mechanical and magnetic brakes.
  • the curvilinear guide means 23 comprise a first rail 24 and a distinct second rail 25 which are disposed on the first guide plane G1 and on the second guide plane G2, respectively, fig. 4.
  • the first guide plane G1 is located at a first height Hl from the reference plane 17, greater than a second height H2 at which the second guide plane G2 is located, fig. 4.
  • the base platform 11 in addition to the reference surface 17, is provided with a first support surface 26 on which the first rail 24 is installed and a second support surface 27 on which the second rail 25 is installed, which are defined on corresponding walls of the base platform 11, see figs. 2 and 3.
  • the first and second rail 24, 25 are circular curvilinear rails.
  • the first rail 24 and the second rail 25 define a circular trajectory with a first radius R1 and a different second radius R2, which are measured with respect to the central point C of the reference surface 17, fig. 3.
  • the first radius R1 is greater than the second radius R2.
  • constructive configurations in which the relationships between the radiuses Rl, R2 are reversed are not excluded.
  • the first joints 21 of the rods 19 connected to adjacent connecting rod-crank mechanisms 15 are supported sliding on respective distinct rails 24, 25.
  • the linear guide means 23 comprise six distinct additional rails 32, each defining a respective flat linear trajectory, fig. 6.
  • the additional rails 32 are advantageously disposed according to a hexagonal pattern.
  • This hexagon can be with open sides, that is, in which the sides are not necessarily connected each one to the next, but they can be suitably distanced from each other, in any case keeping the hexagonal shape, not necessarily regular.
  • the additional rails 32 are advantageously disposed on the same guide plane Gl, G2.
  • the first and second guide plane Gl, G2 can be coincident, being located at a same height with respect to the reference surface 17, fig. 7.
  • the guide plane Gl, G2 where the additional rails 32 lie can advantageously be defined by a single support surface 33.
  • This support surface 33 is essentially parallel to, and disposed above, the reference surface 17.
  • the support surface 33 can be defined by a flat wall.
  • the additional rails 32 all essentially have the same length or extension. This length or extension is functional to allow a sufficient travel for the lower ends 19a of the rods 19, in order to impart all the necessary movements to the upper platform 12.
  • each additional rail 32 supports sliding only one of the first joints 21.
  • the first joints 21 provided on the lower ends 19a of the rods 19 are associated with respective sliders 28, 29 (figs. 2-4).
  • the sliders 28, 29 can be mounted sliding on the first or on the second rail 24, 25, according to the criterion just described. Therefore, three rods 19 are associated with sliders 28 sliding on respective independent and non-interfering segments of the first rail 24, and the remaining three rods 19 are associated with sliders 29 sliding on respective independent and non-interfering segments of the second rail 25.
  • the sliders can be mounted sliding on the additional rails 32, fig. 6, 7.
  • the first and second joints 21, 22 are spherical joints.
  • the first and second joints 21, 22 can be universal joints.
  • the two ends 19a, 19b of the rods 19 can be associated with joints of a different type.
  • the sliders 28, 29 are also connected to respective ones of the connecting rodcrank mechanisms 15.
  • the connecting rod-crank mechanisms 15 can be provided with terminal arms 30 (figs. 2-4) connected to the sliders 28, 29 to reach the height Hl, H2 of the guide planes Gl, G2 where the first and the second rail 24, 25 lie, respectively.
  • the arms 30 are attached to a terminal end of the connecting rods 15b.
  • each of the arms 30 connected to the sliders 28 disposed on the first rail 24 is inserted in a corresponding curvilinear slot 31 made through the wall on which the first support surface 26 is defined.
  • the curvilinear slots 31 preferably have a development that substantially corresponds to the maximum travel of the sliders 28 on the first rail 24, so as to determine a possible emergency end-of-travel that prevents the collision between the rods 19, but also between the connecting rodcrank mechanisms 15.
  • the base platform 11 can be stably attached to a bedplate, which can be the floor of a building, another platform or a suitably made plate, having a circumscribed flat rest surface.
  • a bedplate which can be the floor of a building, another platform or a suitably made plate, having a circumscribed flat rest surface.
  • the base platform 11 can be the floor itself.
  • the apparatus 10 can comprise another movement unit, for example provided with linear actuators or suitably and alternatively tensioned cables, associated with the base platform 11 and configured to determine a movement of the base platform 11.
  • another movement unit for example provided with linear actuators or suitably and alternatively tensioned cables, associated with the base platform 11 and configured to determine a movement of the base platform 11.
  • additional movement units for example but without limits to generality, a hexapod kinematics, can also be combined with the apparatus 10 described heretofore, in order to determine additional redundant movements on the driving station 13 and improve the driving experience of the simulated land vehicle.
  • the operation of the apparatus 10 described heretofore which corresponds to the method according to the present invention, provides to determine the movement of the driving station 13, both linear of translation as well as rotary, with respect to the axes x, y, z of a set of three orthogonal Cartesian axes integral with the base platform 11 , through the coordinated and selective drive of the six rotary motors 16.
  • the rotation of the drive shafts 18 to which the connecting rod-crank mechanisms 15 are connected allows to determine, in turn, a corresponding inclination of the rods 19 which, since they are mounted sliding on the rails 24, 25, or on the additional rails 32, by means of the first joints 21, and are connected to the upper platform 12 by means of the second joints 22, determine the desired combined rotational-translational movement of the driving station 13.

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  • Aviation & Aerospace Engineering (AREA)
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Abstract

Apparatus (10) for simulating driving a land vehicle comprising: a base platform (11), an upper platform (12) on which a driving station (13) is able to be installed, and a movement unit (14) mounted on said base platform (11) and connected to said upper platform (12) to cause a movement of said driving station (13) in six degrees of freedom.

Description

“APPARATUS AND CORRESPONDING METHOD FOR SIMULATING DRIVING A LAND VEHICLE”
Figure imgf000002_0001
FIELD OF THE INVENTION
The present invention concerns an apparatus, and corresponding method, for simulating, according to six or more degrees of freedom, driving a land vehicle such as primarily a car, bus, van, motorcycle, or other similar or comparable vehicle.
In particular, the apparatus according to the present invention is able to reproduce in an extremely faithful manner any real driving condition of one of the aforementioned vehicles along predetermined routes and with driving modes determined by a driver.
The present invention can also be used for the driving training of specific personnel for particular activities and/or for simulating an unmanned driving experience for one or more passengers.
BACKGROUND OF THE INVENTION
Various types of apparatuses for simulating driving land vehicles are known.
Typically, such apparatuses comprise a base platform, which may also consist of a floor, or any bedplate, an upper platform located above the base platform, and a driving station associated with the upper platform and in which a driver can be seated.
The base platform, when present, is able to be moved on a simulation surface in two linear directions X, Y and around a vertical axis Z, by means of three linear actuators, as in the apparatus described in WO-A-2013/114179, or by means of suitably and alternately tensioned cables, as in the apparatus described in WO-A- 2017/021323.
The driving station, which usually comprises a seating element for a driver, command means such as a steering wheel, brake pedals, clutch, accelerator, etc., and a projection screen on which the driving environment in which the driver is immersed during the simulation is projected, is associated with the base platform by means of a movement unit comprising a plurality of telescopic linear actuators.
Generally, the movement unit is defined by a hexapod kinematics, that is, formed by six distinct telescopic linear actuators, or by a kinematics formed by a smaller number of actuators, mounted on the base platform.
Known simulation apparatuses have some disadvantages, mainly related to problems of kinematic dependence between the degrees of freedom of the system, noise during their operation, and large overall installation space compared to the space useful for the simulation. Moreover, known apparatuses often have a problem related to the dynamic response times of the system due to its limited rigidity.
There is therefore the need to perfect an apparatus and corresponding method for simulating driving a land vehicle that can overcome at least one of the disadvantages of the state of the art.
To do this, it is necessary to solve the technical problem of perfecting the movement unit of the upper platform.
In particular, one purpose of the present invention is to provide an apparatus for simulating driving a land vehicle capable of guaranteeing high kinematic independence between the degrees of freedom of the system.
Another purpose of the present invention is to provide an apparatus for simulating driving a land vehicle that guarantees extensive movement excursions of the upper platform, without incurring into interferences between the elements that make up the movement unit.
Another purpose of the present invention is to provide an apparatus for simulating driving a particularly rigid land vehicle, and therefore capable of guaranteeing high performance in terms of the system’s dynamic response times.
Another purpose of the present invention is to provide an apparatus for simulating driving a land vehicle that is quieter than known apparatuses.
Another purpose of the present invention is to provide an apparatus for simulating driving a land vehicle capable of making the best use of the installation space also for the simulation.
Another purpose of the present invention is to perfect a method for simulating driving a land vehicle that is simple, reliable and particularly realistic in terms of stresses acting on the driving station.
The Applicant has devised, tested and embodied the present invention to overcome the shortcomings of the state of the art and to obtain these and other purposes and advantages. SUMMARY OF THE INVENTION
The present invention is set forth and characterized in the independent claims. The dependent claims describe other characteristics of the present invention or variants to the main inventive idea.
In accordance with the above purposes and to resolve the technical problem disclosed above in a new and original way, also achieving considerable advantages compared to the state of the prior art, an apparatus according to the present invention for simulating driving a land vehicle comprises: a base platform, or bedplate, an upper platform on which a driving station is able to be installed, and a movement unit mounted on the base platform and connected to the upper platform to cause a movement of the driving station, advantageously in six degrees of freedom.
In accordance with one aspect of the present invention, the movement unit comprises:
- six connecting rod-crank mechanisms able to be moved on horizontal movement planes and connected to respective motors mounted on the base platform,
- six rigid rods connected, with a first base or lower end thereof, to a corresponding one of the connecting rod-crank mechanisms and, with an opposing second upper end, to the upper platform by means of respective first and second joints, and
- curvilinear or linear guide means mounted on the base platform, lying on guide planes parallel to the movement planes, and on which the first joints of the rods are supported sliding.
As mentioned, base platform is to be understood as any type of bedplate whatsoever, or even a simple floor.
Doing so achieves at least the following advantages: a. Make the apparatus particularly compact, both because substantially all the useful volume of the base platform is exploited, and also because the curvilinear guide means allow to occupy a limited space, the length of the trajectories being equal. b. Achieve kinematic independence between the degrees of freedom of movement of the system. In fact, thanks to the torque applied to the motors, the upper platform can be moved with respect to the six degrees of freedom, around a central point thereof, in an independent manner, obviously within the permissible physical limits that characterize the movement unit. c. Limit the friction involved and therefore the noise and wear, since linear actuators or similar means that create noise and require maintenance and/or replacement over time are no longer used.
In accordance with another aspect of the present invention, the movement planes comprise a first and a distinct second movement plane.
In accordance with another aspect of the present invention, the first and second movement plane are parallel to each other and disposed at different heights with respect to a reference plane of the base platform.
In accordance with another aspect of the present invention, two adjacent connecting rod-crank mechanisms are able be moved on the first movement plane and on the distinct second movement plane, respectively, parallel to each other and disposed at different heights with respect to a reference plane of the base platform.
In accordance with a variant of the present invention, the movement planes are coincident. In particular, the movement planes are parallel to each other and disposed at a same height with respect to the reference plane of the base platform.
In accordance with another aspect of the present invention, the guide planes comprise a first and a distinct second guide plane.
In accordance with another aspect of the present invention, the first and second guide plane are parallel to each other and disposed at different heights with respect to the reference plane of the base platform.
In accordance with another aspect of the present invention, the first joints of the rods connected to adjacent connecting rod-crank mechanisms are supported sliding on respective circular guide means lying on the first guide plane and on the distinct second guide plane, parallel to each other and disposed at different heights with respect to a reference plane of the base platform.
In accordance with a variant of the present invention, the guide planes are coincident. In particular, the guide planes are parallel to each other and disposed at a same height with respect to the reference plane of the base platform.
In accordance with another aspect of the present invention, the first joints are connected to corresponding sliders mounted on the curvilinear or linear guide means and connected to respective connecting rod-crank mechanisms.
In accordance with another aspect of the present invention, the guide means can be curvilinear.
In accordance with another aspect of the present invention, the guide means comprise a pair of rails, each defining a respective flat circular trajectory.
In accordance with a variant of the present invention, the guide means can be linear.
In accordance with another aspect of the present invention, the guide means can comprise six distinct additional rails, each defining a respective flat linear trajectory.
In accordance with another aspect of the present invention, the six distinct additional rails can be advantageously disposed according to a hexagonal pattern.
In accordance with another aspect of the present invention, the motors may be angularly spaced with respect to a central point of the base platform.
In accordance with a variant of the present invention, the motors may be angularly spaced from the central point of the base platform in a different way.
In accordance with another aspect of the present invention, the motors are configured to generate a motion of rotation around respective axes of rotation parallel to each other and substantially vertical.
In accordance with another aspect of the present invention, the axes of rotation of two adjacent motors are located at different distances with respect to the central point. Some variants comprise dispositions in which one or more motors are overlapping each other, therefore with coaxial axes of rotation, or in which the motors are all located at the same distance from the central point, therefore with axes of rotation disposed on a same circumference, with its center in the central point.
In accordance with another aspect of the present invention, the motors are rotary electric motors able to be driven independently of each other and managed by a control unit of the apparatus on the basis of command actions given by a user or of a pre-set simulation program.
In accordance with another aspect of the present invention, the motors are rotary electric motors, equipped with stator and rotor.
In accordance with another aspect of the present invention, a brake unit can be advantageously associated with each of the motors.
In accordance with another aspect of the present invention, each brake unit can be of the mechanical type.
In accordance with another aspect of the present invention, each brake unit of the mechanical type can comprise at least one interference member configured to generate a pressure on a rotating part of a respective motor.
In accordance with another aspect of the present invention, the interference member can be or comprise a brake caliper, or other similar elements.
In accordance with a variant of the present invention, each brake unit can be of the magnetic type.
Some embodiments of the present invention also concern a method for simulating driving a land vehicle which provides to position a base platform on a rest surface and to move a driving station, installed on an upper platform, by means of a movement unit mounted on the base platform.
According to one aspect of the present invention, the movement unit determines a movement of the driving station, both linear of translation as well as rotary, with respect to axes (x, y, z) of a set of three orthogonal Cartesian axes integral with the base platform by means of a coordinated and selective drive of six motors which move respective connecting rod-crank mechanisms on horizontal movement planes, to which respective rigid rods are connected, with a first lower end thereof, the rigid rods in turn being connected, with an opposing second upper end, to the upper platform by means of first and second joints, respectively, the first joints being sliding on curvilinear or linear guide means mounted on the base platform and lying on guide planes which are parallel to the movement planes.
DESCRIPTION OF THE DRAWINGS
These and other aspects, characteristics and advantages of the present invention will become apparent from the following description of an embodiment, given as a non-restrictive example with reference to the attached drawings wherein:
- fig. 1 is a three-dimensional view of an apparatus for simulating driving a land vehicle, according to the present invention;
- fig. 2 is a three-dimensional view of the apparatus of fig. 1 without the driving station;
- fig. 3 is a top view of fig. 2;
- fig. 4 is a lateral view of fig. 2 in which the base and upper platform are schematized with a dashed line; - fig. 5 is a three-dimensional view of another embodiment of the apparatus for simulating driving a land vehicle, according to the present invention;
- fig. 6 is a three-dimensional view of another embodiment of the apparatus for simulating driving a land vehicle, according to the present invention;
- fig. 7 is a lateral view of fig. 6;
- fig. 8 is a three-dimensional view showing a motor with a corresponding brake unit.
We must clarify that the phraseology and terminology used in the present description, as well as the figures in the attached drawings also in relation as to how described, have the sole function of better illustrating and explaining the present invention, their purpose being to provide a non-limiting example of the invention itself, since the scope of protection is defined by the claims.
To facilitate comprehension, the same reference numbers have been used, where possible, to identify identical common elements in the drawings. It is understood that elements and characteristics of one embodiment can be conveniently combined or incorporated into other embodiments without further clarifications.
DESCRIPTION OF AN EMBODIMENT OF THE PRESENT INVENTION
With reference to fig. 1, an apparatus 10 according to the present invention for simulating driving a land vehicle comprises a substantially flat base platform 11 , an upper platform 12, also substantially flat, and a driving station 13 installed on the upper platform 12.
As mentioned, the base platform 11 can also be understood as the same floor of the location where the apparatus 10 is located, or any resting bedplate whatsoever.
The apparatus 10 can also comprise a projection screen, not shown in the drawings, disposed in front of the driving station 13 and onto which a driving environment is projected to immerse a user during the simulation.
The projection screen can be of any size, with no limits on height and/or angular extension.
Additionally, the projection screen can be fixed or movable.
The driving station 13 can comprise a frame, which at least partly reproduces the passenger compartment of the land vehicle, in which there are mounted a seat and command means for the user, such as a steering wheel, pedals, and an instrument panel, not shown in the drawings. The apparatus 10 also comprises a movement unit 14 mounted on the base platform 11 and connected to the upper platform 12 to determine a movement of the driving station 13, both linear of translation as well as rotary, with respect to axes, or directions, x, y, z of a set of three orthogonal Cartesian axes (x, y, z) integral with the base platform 11. In particular, in the specific field of vehicle simulators, the rotation of the driving station 13 in a first direction x is called roll, in a second direction y is called pitch, and in a third direction z is called yaw.
Therefore, the apparatus 10 allows to simulate driving a land vehicle in at least six degrees of freedom.
According to the present invention, with reference to figs. 2-8, the movement unit 14 comprises six connecting rod-crank mechanisms 15 able to be moved on horizontal movement planes Ml, M2 (fig. 4) and connected to respective motors 16 mounted on the base platform 11.
The motors 16 are distinct and independent of each other.
Six inextensible rigid rods 19, all having, advantageously but not necessarily, the same length, connected with a first lower or base end 19a thereof to a corresponding one of the connecting rod-crank mechanisms 15, and with an opposing second upper end 19b to the upper platform 12 by means of respective first and second joints 21, 22, allow the movement of the upper platform 12 thanks to the motion generated by the motors 16 and transmitted to the connecting rodcrank mechanisms 15.
As mentioned, the rods 19 can have the same length or different lengths.
The rods 19 have a linear development and are supported sliding, in correspondence with their first joints 21, on guide means 23.
The guide means can be curvilinear (figs. 1-5) or linear (fig. 6, 7).
The guide means 23 are mounted on the base platform 11 and lie on guide planes Gl, G2 (fig. 4 and fig. 7) which are parallel to the movement planes Ml, M2 on which the connecting rod-crank mechanisms 15 are able to be moved.
The curvilinear guide means 23, as explained in more detail below, are represented here as two concentric circumferences, one with a larger radius and one with a smaller radius, on which the ends of a first set of three and a second set of three connecting rod-crank mechanisms 15, respectively, are able to be moved.
It should be understood that, instead of circumferences, the guide means 23 could be represented by arcs or circular segments, or even by curvilinear segments, based on the travel required for the connecting rod-crank mechanisms 15.
According to alternative embodiments, better described below, the guide means 23 can be linear and therefore essentially defined by linear segments or sections, on each of which, respectively, an end of one of the connecting rod-crank mechanisms 15 is able to be moved, fig. 6.
The movement of the connecting rod-crank mechanisms 15, driven in a coordinated manner by the motors 16 managed by a control unit of the apparatus 10, for example on the basis of command actions of the user, or of a pre-set simulation program, allows to determine a sliding, along the curvilinear or linear guide means 23, of the lower end 19a of the rods 19, causing an inclination in space thereof with respect to the upper platform 12, which therefore undergoes corresponding displacements and rotations with respect to the axes x, y, z of the set of three orthogonal Cartesian axes (x, y, z).
In order to allow a movement without interference and with the maximum possible excursion, two adjacent connecting rod-crank mechanisms 15 are able be moved on a first movement plane Ml and on a distinct second movement plane M2, respectively.
The first movement plane Ml and the second movement plane M2 are parallel to each other and substantially horizontal.
The first movement plane Ml and the second movement plane M2 can be disposed at different heights, for example with respect to a reference plane 17 of the base platform 11 , see for example fig. 4.
It should be understood that adjacent connecting rod-crank mechanisms 15 can be able to be moved on a same movement plane Ml, M2. According to other embodiments, in fact, the first movement plane Ml and the second movement plane M2 can be disposed at a same height with respect to the reference plane 17 of the base platform 11, see for example fig. 7. In this case, the first movement table Ml and the second movement table M2 are coincident.
Similarly, the first joints 21 provided at the lower ends 19a of the rods 19 connected to adjacent connecting rod-crank mechanisms 15 are supported sliding on respective curvilinear or linear guide means 23 lying on a first guide plane G 1 and on a distinct second guide plane G2. The first guide plane Gl and the second guide plane G2 are parallel to each other and substantially horizontal.
The first guide plane G1 and the second guide plane G2 can be disposed at different heights, for example with respect to a reference plane 17 of the base platform 11, see for example fig. 4.
It should be understood that the first joints 21 can be able to be moved on respective guide means 23 that can lie on a same guide plane Gl, G2. According to other embodiments, in fact, the first guide plane Gl and the second guide plane G2 can be disposed at a same height, for example with respect to the reference plane 17 of the base platform 11, see for example fig. 7. In this case, the first guide plane Gl and the second guide plane G2 are coincident.
According to some embodiments, the motors 16 are installed on the reference or base surface 17, which is flat and substantially horizontal.
The reference surface 17 is a bottom surface of the base platform 11.
The reference surface 17 can be defined by a flat wall.
In the example described here, the base platform 11 is substantially in the shape of a disk.
The motors 16 are angularly spaced with respect to a central point C of the reference surface 17, fig. 3.
In the example case in which the reference surface 17 has a circular shape, the central point C can correspond to the center of the circumference.
The motors 16 may, but not necessarily, be equally spaced angularly, in this specific case with a spacing angle equal to 60°.
Two or more motors 16 could also be disposed overlapping each other, or according to other reciprocal geometric dispositions.
The motors 16 are configured to generate a motion of rotation around respective substantially vertical axes of rotation V.
The motors 16 are preferably rotary electric motors, equipped with stator and rotor.
The axes of rotation V of the motors 16 are substantially orthogonal to the reference surface 17 and parallel to each other.
In particular, each motor 16 can comprise its own drive shaft 18 rotatable around the corresponding axis of rotation V and connected to the respective connecting rod-crank mechanism 15.
Each connecting rod-crank mechanism 15 comprises, in a manner known per se, a first element, or crank, 15a connected to the drive shaft 18 of the respective motor 16, and a second element, or connecting rod, 15b connected, by means of a cylindrical joint having an axis of rotation orthogonal to the movement planes Ml, M2, to a terminal end of the first crank element 15a.
The axes of rotation V of two adjacent motors 16 are located at different distances LI, L2 with respect to the central point C. For example, a pair of adjacent motors 16 can have respective axes V at a first distance L 1 and at a second distance L2 which are different, as indicated in fig. 3, wherein the first distance LI is greater than the second distance L2.
According to possible embodiments, the axes of rotation V of the motors 16 are all located at the same distance with respect to the central point C. In this case, the motors 16 are located with their own axes of rotation V disposed on a same circumference with the center in the central point C.
According to other possible embodiments, two or more adjacent motors 16 can be coaxial, therefore the respective axes of rotation V are coincident.
According to some embodiments, each of the motors 16 can be associated with a brake unit 34, shown in fig. 8.
The brake unit 34 can be of the mechanical type. Each brake unit 34 of the mechanical type comprises at least one interference member 34a configured to generate a pressure on a rotating part 16a of the respective motor 16. The interference member 34a can be, by way of example, a brake caliper.
According to a possible variant, each brake unit 34 can be of the magnetic type or a combination of mechanical and magnetic brakes.
According to some embodiments, the curvilinear guide means 23 comprise a first rail 24 and a distinct second rail 25 which are disposed on the first guide plane G1 and on the second guide plane G2, respectively, fig. 4.
The first guide plane G1 is located at a first height Hl from the reference plane 17, greater than a second height H2 at which the second guide plane G2 is located, fig. 4.
The base platform 11 , in addition to the reference surface 17, is provided with a first support surface 26 on which the first rail 24 is installed and a second support surface 27 on which the second rail 25 is installed, which are defined on corresponding walls of the base platform 11, see figs. 2 and 3.
The first and second rail 24, 25 are circular curvilinear rails. The first rail 24 and the second rail 25 define a circular trajectory with a first radius R1 and a different second radius R2, which are measured with respect to the central point C of the reference surface 17, fig. 3.
With particular reference to fig. 3, the first radius R1 is greater than the second radius R2. However, constructive configurations in which the relationships between the radiuses Rl, R2 are reversed are not excluded.
According to some embodiments, the first joints 21 of the rods 19 connected to adjacent connecting rod-crank mechanisms 15 are supported sliding on respective distinct rails 24, 25.
According to alternative embodiments, the linear guide means 23 comprise six distinct additional rails 32, each defining a respective flat linear trajectory, fig. 6.
The additional rails 32 are advantageously disposed according to a hexagonal pattern. This hexagon can be with open sides, that is, in which the sides are not necessarily connected each one to the next, but they can be suitably distanced from each other, in any case keeping the hexagonal shape, not necessarily regular.
The additional rails 32 are advantageously disposed on the same guide plane Gl, G2. In this case, the first and second guide plane Gl, G2 can be coincident, being located at a same height with respect to the reference surface 17, fig. 7.
The guide plane Gl, G2 where the additional rails 32 lie can advantageously be defined by a single support surface 33. This support surface 33 is essentially parallel to, and disposed above, the reference surface 17. The support surface 33 can be defined by a flat wall.
The additional rails 32 all essentially have the same length or extension. This length or extension is functional to allow a sufficient travel for the lower ends 19a of the rods 19, in order to impart all the necessary movements to the upper platform 12.
The first joints 21 of the rods 19 are supported sliding on respective distinct additional rails 32. In other words, each additional rail 32 supports sliding only one of the first joints 21.
According to some embodiments, the first joints 21 provided on the lower ends 19a of the rods 19 are associated with respective sliders 28, 29 (figs. 2-4).
In the case of curvilinear guide means 23, the sliders 28, 29 can be mounted sliding on the first or on the second rail 24, 25, according to the criterion just described. Therefore, three rods 19 are associated with sliders 28 sliding on respective independent and non-interfering segments of the first rail 24, and the remaining three rods 19 are associated with sliders 29 sliding on respective independent and non-interfering segments of the second rail 25.
In the case of linear guide means 23, the sliders, uniquely identified with reference 28, can be mounted sliding on the additional rails 32, fig. 6, 7.
According to some embodiments and by way of a non-limiting example, the first and second joints 21, 22 are spherical joints. Alternatively, the first and second joints 21, 22 can be universal joints. Moreover, the two ends 19a, 19b of the rods 19 can be associated with joints of a different type.
The sliders 28, 29 are also connected to respective ones of the connecting rodcrank mechanisms 15.
The connecting rod-crank mechanisms 15 can be provided with terminal arms 30 (figs. 2-4) connected to the sliders 28, 29 to reach the height Hl, H2 of the guide planes Gl, G2 where the first and the second rail 24, 25 lie, respectively. The arms 30 are attached to a terminal end of the connecting rods 15b.
With particular reference to the embodiment of figs. 2 and 3, each of the arms 30 connected to the sliders 28 disposed on the first rail 24 is inserted in a corresponding curvilinear slot 31 made through the wall on which the first support surface 26 is defined. In this case, the curvilinear slots 31 preferably have a development that substantially corresponds to the maximum travel of the sliders 28 on the first rail 24, so as to determine a possible emergency end-of-travel that prevents the collision between the rods 19, but also between the connecting rodcrank mechanisms 15.
According to some embodiments, the base platform 11 can be stably attached to a bedplate, which can be the floor of a building, another platform or a suitably made plate, having a circumscribed flat rest surface.
In other solutions, as mentioned, the base platform 11 can be the floor itself.
According to other embodiments, the apparatus 10 can comprise another movement unit, for example provided with linear actuators or suitably and alternatively tensioned cables, associated with the base platform 11 and configured to determine a movement of the base platform 11.
In this way, in a modular-type solution, additional degrees of freedom of movement of the apparatus can be added, since it is possible to make the base platform 11 able to be moved in a manner that is both linear of translation with respect to axes X, Y, as well as rotary with respect to an axis Z. In this case, the movement of the driving station 13 can occur with respect to nine degrees of freedom, three of which are redundant since they can overlap with the same movements generated by the movement unit 14 on the driving station 13.
A person of skill in the art will easily understand that additional movement units, for example but without limits to generality, a hexapod kinematics, can also be combined with the apparatus 10 described heretofore, in order to determine additional redundant movements on the driving station 13 and improve the driving experience of the simulated land vehicle.
The operation of the apparatus 10 described heretofore, which corresponds to the method according to the present invention, provides to determine the movement of the driving station 13, both linear of translation as well as rotary, with respect to the axes x, y, z of a set of three orthogonal Cartesian axes integral with the base platform 11 , through the coordinated and selective drive of the six rotary motors 16.
The rotation of the drive shafts 18 to which the connecting rod-crank mechanisms 15 are connected allows to determine, in turn, a corresponding inclination of the rods 19 which, since they are mounted sliding on the rails 24, 25, or on the additional rails 32, by means of the first joints 21, and are connected to the upper platform 12 by means of the second joints 22, determine the desired combined rotational-translational movement of the driving station 13.
It is clear that modifications and/or additions of parts or steps may be made to the apparatus 10 and to the method for simulating driving a land vehicle as described heretofore, without departing from the field and scope of the present invention, as defined by the claims.
It is also clear that, although the present invention has been described with reference to some specific examples, a person of skill in the art will be able to achieve other equivalent forms of an apparatus and corresponding method for simulating driving a land vehicle, having the characteristics as set forth in the claims and hence all coming within the field of protection defined thereby.
In the following claims, the sole purpose of the references in brackets is to facilitate their reading and they must not be considered as restrictive factors with regard to the field of protection defined by the claims.

Claims

1. Apparatus (10) for simulating driving a land vehicle comprising a base platform (11), an upper platform (12) on which a driving station (13) is able to be installed, and a movement unit (14) mounted on said base platform (11) and connected to said upper platform (12) to cause a movement of said driving station (13), characterized in that said movement unit (14) comprises:
- six connecting rod-crank mechanisms (15) able to be moved on horizontal movement planes (Ml, M2) and connected to respective motors (16) mounted on said base platform (11), - six rigid rods (19) connected, with a first lower end (19a) thereof, to a corresponding one of said connecting rod-crank mechanisms (15) and, with an opposing second upper end (19b), to said upper platform (12) by means of respective first and second joints (21, 22), and
- guide means (23) mounted on said base platform (11), lying on guide planes (Gl, G2) parallel to said movement planes (M 1 , M2), and on which said first joints (21) of said rods (19) are supported sliding.
2. Apparatus (10) as in claim 1, characterized in that said movement planes comprise a first and a distinct second movement plane (Ml, M2), which are parallel to each other and disposed at different heights with respect to a reference plane (17) of said base platform (11).
3. Apparatus (10) as in claim 2, characterized in that two adjacent connecting rod-crank mechanisms (15) are able be moved on said first movement plane (Ml) and on said distinct second movement plane (M2), respectively.
4. Apparatus (10) as in claim 1, characterized in that said movement planes (Ml, M2) are coincident.
5. Apparatus (10) as in claim 1, characterized in that said guide planes comprise a first and a distinct second guide plane (Gl, G2), which are parallel to each other and disposed at different heights with respect to a reference plane (17) of said base platform (11).
6. Apparatus (10) as in claim 5, characterized in that the first joints (21) of said rods (19) connected to adjacent connecting rod-crank mechanisms (15) are supported sliding on respective guide means (23) lying on said first guide plane (Gl) and on said distinct second guide plane (G2).
7. Apparatus (10) as in claim 1, characterized in that said guide planes (Gl, G2) are coincident.
8. Apparatus (10) as in any claim hereinbefore, characterized in that said first joints (21) are connected to corresponding sliders (28, 29) mounted on said guide means (23) and connected to respective said connecting rod-crank mechanisms (15).
9. Apparatus (10) as in any claim hereinbefore, characterized in that said guide means (23) are curvilinear.
10. Apparatus (10) as in claim 9, characterized in that said guide means (23) comprise a pair of rails (24, 25) each defining a respective flat circular trajectory.
11. Apparatus (10) as in any claim from 1 to 8, characterized in that said guide means (23) are linear.
12. Apparatus (10) as in claim 11, characterized in that said guide means (23) comprise six distinct additional rails (33) each defining a respective flat linear trajectory.
13. Apparatus (10) as in claim 12, characterized in that said six distinct additional rails (33) are disposed according to a hexagonal pattern.
14. Apparatus (10) as in any claim hereinbefore, characterized in that said motors (16) are angularly spaced with respect to a central point (C) of said base platform (11)
15. Apparatus (10) as in any claim hereinbefore, characterized in that said motors (16) are configured to generate a motion of rotation around respective axes of rotation (V) parallel to each other and substantially vertical.
16. Apparatus (10) as in claim 14 and 15, characterized in that the axes of rotation (V) of two adjacent motors (16) are located at different distances (LI, L2) with respect to said central point (C).
17. Apparatus (10) as in any claim hereinbefore, characterized in that said motors (16) are rotary electric motors able to be driven independently of each other and managed by a control unit of said apparatus (10) on the basis of command actions given by a user or of a pre-set simulation program.
18. Apparatus (10) as in any claim hereinbefore, characterized in that said motors (16) are rotary electric motors, equipped with stator and rotor.
19. Apparatus (10) as in any claim hereinbefore, characterized in that a brake unit (34) is associated with each of said motors (16).
20. Apparatus (10) as in claim 19, characterized in that each brake unit (34) is of the mechanical type and comprises at least one interference member (34a) configured to generate a pressure on a rotating part of a respective motor (16).
21. Apparatus (10) as in claim 20, characterized in that said interference member (34a) is a brake caliper.
22. Apparatus (10) as in claim 19, characterized in that each brake unit (34) is of the magnetic type.
23. Method for simulating driving a land vehicle which provides to position a base platform (11) on a rest surface and to move a driving station (13) installed on an upper platform (12) by means of a movement unit (14) mounted on said base platform (11), characterized in that said movement unit (14) determines a movement of said driving station (13), both linear of translation as well as rotary, with respect to axes (x, y, z) of a set of three orthogonal Cartesian axes integral with said base platform (11) by means of a coordinated and selective drive of six motors (16) which move respective connecting rod-crank mechanisms (15) on horizontal movement planes (Ml, M2), to which respective rigid rods (19) are connected, with a first lower end (19a) thereof, said rigid rods (19) in turn being connected, with an opposing second upper end (19b), to said upper platform (12) by means of first and second joints (21, 22), respectively, said first joints (21) being sliding on guide means (23) mounted on said base platform (11) and lying on guide planes (Gl, G2) which are parallel to said movement planes (Ml, M2).
PCT/EP2023/081910 2022-11-15 2023-11-15 Apparatus and corresponding method for simulating driving a land vehicle WO2024105105A1 (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5018973A (en) * 1988-11-30 1991-05-28 Thomson-Csf Motion simulator for vehicle driver
CN102176290A (en) * 2011-01-17 2011-09-07 浙江大学 Gear-pair-based simulator platform capable of infinitely rotating around Z axis
US20130099085A1 (en) * 2010-06-28 2013-04-25 Martin Schwab Hexapod
WO2013114179A1 (en) 2012-01-30 2013-08-08 Vi-Grade Gmbh Apparatus to simulate driving a land vehicle
WO2017021323A1 (en) 2015-07-31 2017-02-09 Vi-Grade Ag Apparatus to simulate driving a land vehicle

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5018973A (en) * 1988-11-30 1991-05-28 Thomson-Csf Motion simulator for vehicle driver
US20130099085A1 (en) * 2010-06-28 2013-04-25 Martin Schwab Hexapod
CN102176290A (en) * 2011-01-17 2011-09-07 浙江大学 Gear-pair-based simulator platform capable of infinitely rotating around Z axis
WO2013114179A1 (en) 2012-01-30 2013-08-08 Vi-Grade Gmbh Apparatus to simulate driving a land vehicle
WO2017021323A1 (en) 2015-07-31 2017-02-09 Vi-Grade Ag Apparatus to simulate driving a land vehicle

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