JPH0760290B2 - Multi-axis motion simulator - Google Patents

Description

The present invention can be used for simulating various motions of an aircraft, a space shuttle, an ultra-high speed ship, etc., as well as an ergonomic experience experiment by giving motions with multiple degrees of freedom. The present invention relates to a motion simulator, and more particularly to a motion simulator having multiple degrees of freedom using a composite eccentric type electric direct drive positioning device.

(Prior Art) Generally, a motion simulator performed in development of an aircraft or the like is based on a physical quantity obtained in each element test (for example, aerodynamic data by a wind tunnel test, engine data, etc.) of an airframe model part, and Equation of state (airframe translation,
(Rotary motion of the machine, position of the machine, etc.) is solved, and complicated movements along it are given to the simulated machine.
In a conventional motion simulator that performs such a simulated test for an aircraft, a space shuttle, etc., a hydraulic cylinder is used exclusively as an actuator of a drive control unit. For example, in the case of the 6-axis motion simulator, which is the highest altitude, six hydraulic cylinders are used, and two pairs of two cylinders are arranged on a triangular pyramid to support the cockpit, and the cockpit module is arranged to move up and down, front and rear, and left and right. It is possible to give swing of 6 degrees of freedom of 3 moments of 3 translation, pitch, roll, and yaw.

(Problems to be Solved by the Invention) In the conventional motion simulator, since the complicated movement described above is simulated by the body axis (orthogonal coordinate) movement by the six hydraulic cylinders, the body and control are very complicated, but
There is a drawback that the range of body axis movement is narrow. Further, since the six hydraulic cylinders are provided in a pair of two in the shape of a triangular pyramid, the extension shaft is heavily loaded in a specific posture. In the case of a steering error, a large amount of gravity may be applied, which may damage the extension shaft. Further, in the hydraulic cylinder actuator, the up-and-down translation operation is relatively easy, but the continuous rotation motion (spin) about each axis is impossible to simulate. Further, since it is a hydraulic type, the output of the actuator is affected by the temperature change of the hydraulic pressure, the stability of the output is lacking, and there are problems such as long-time operation, maintenance inspection, and maintenance cost.

It is an object of the present invention to provide a motion simulator that can solve the above-mentioned drawbacks of the conventional hydraulic drive type motion simulator.

(Means for Solving the Problems) The motion simulator of the present invention includes, as a drive actuator, a fixed cylinder instead of a conventional hydraulic cylinder, and an outer eccentric rotor rotatably supported by the fixed cylinder. An inner eccentric rotor rotatably supported in an eccentric position, an output shaft at an eccentric position of the inner eccentric rotor, and electric direct drive between the fixed cylinder and the outer eccentric rotor and between the outer eccentric rotor and the inner eccentric rotor. A composite eccentric type electric direct drive positioning device is used, which constitutes a motor mechanism and is capable of drive control with the output shaft having three degrees of freedom of translational movement in at least a two-dimensional plane and rotational movement about its vertical axis. By doing so, the above problem is solved. The composite eccentric type electric direct drive positioning device is not limited to the case where the inner eccentric rotor is directly supported by the outer eccentric rotor, and one or more eccentric rotors are interposed between the outer eccentric rotor and the inner eccentric rotor. It also includes the case of multi-stage configuration.

That is, the first invention for achieving the above object is to provide a cockpit, a movable frame that supports the cockpit via a first drive device that gives the cockpit a movement of at least one degree of freedom, and the movable frame has at least one degree of freedom. And a fixed frame that supports the movable frame via a second drive device capable of giving a motion of at least one of the first drive device and the second drive device, and at least one drive device includes a compound eccentric rotor. It is composed of a composite eccentric type electric direct drive positioning device that can be rotated by an electric direct drive motor and can give its output shaft a movement of three degrees of freedom.

As the first drive device, a rotary drive device that gives the cockpit a movement of one degree of freedom of rotational movement about the X axis or the Y axis,
A composite eccentric type electric direct drive positioning device or the like that rotates a composite eccentric rotor by an electric direct drive motor that provides translational movement in the X-axis and Y-axis directions and rotational movement about the Z-axis is adopted. .

If a compound eccentric type electric direct drive positioning device capable of imparting four-degree-of-freedom movement of translational motion in the X-axis, Y-axis and Z-axis directions and rotational motion about the Z-axis is adopted as the second drive device, it becomes 5 degrees of freedom movement can be given.

Also, a cockpit and at least one in the cockpit
A first movable frame that supports the cockpit via a first driving device that gives a movement with a degree of freedom, and a movable frame that has a second driving device that can give a movement with at least one degree of freedom to the first movable frame. The second movable frame to be supported, and the second movable frame via a third drive device capable of giving at least one degree of freedom of movement to the second movable frame.
At least one of the first to third drive devices includes a fixed frame that supports a movable frame, and at least one of the drive devices rotates a compound eccentric rotor by an electric direct drive motor to give its output shaft a movement of three degrees of freedom. By using the compound eccentric type electric direct drive positioning device capable of performing the above, it is possible to obtain a motion simulator capable of more complicated movement.

If a composite eccentric type electric direct drive positioning device capable of positioning with three degrees of freedom is adopted for at least two driving devices among the first to third driving devices, the cockpit can be moved with six degrees of freedom.

(Function) A composite eccentric type electric direct drive positioning device (hereinafter, simply referred to as a composite eccentric positioning device) as a drive device adopted in the present invention is configured so that the output shafts are respectively rotated by the rotation of the outer eccentric rotor and the inner eccentric rotor. The eccentric rotation can be combined to move to an arbitrary position within a circle on a plane having the sum of the respective eccentric amounts as a radius, and the output shaft can be rotated about that axis. A motion with a degree of freedom can be given arbitrarily. Further, the output shaft is translationally driven in the axial direction by, for example, a ball screw mechanism or the like, whereby four-axis drive of translational motion in the X, Y, and Z axis directions and rotational motion around the output shaft can be performed.

Therefore, for example, as shown in the embodiment of FIGS. 7 and 8,
If a direct drive ring motor is used as the first drive device, a three-axis drive compound eccentric positioning device is horizontally used as the second drive device, and a three-axis drive compound eccentric positioning device is vertically used as the third drive device, 6-degree-of-freedom motion can be given to the cockpit, and complicated motions such as up and down, front and back, left and right, pitch, roll, yaw, and spin of an aircraft can be simulated.

(Example) Hereinafter, the Example of this invention is described in detail based on drawing.

1 and 2 show an embodiment of a compound eccentric positioning device that constitutes a drive device. FIG. 1 is an example of a 4-axis compound eccentric positioning device, and FIG. 2 is an example of a 3-axis compound eccentric positioning device. In FIG. 1, 2 is a fixed cylinder that also serves as a fixed frame, 3 is an outer eccentric rotor rotatably supported by the fixed cylinder, and 4 is an inner eccentric rotor rotatably supported at an eccentric position of the outer eccentric rotor. is there. Also, 5
Is an output shaft translation rotor which is eccentrically located in the inner eccentric rotor, 6 is screwed to the output shaft translation rotor so as to be axially movable, and a ball screw 7 is formed on the outer peripheral portion, and the inside is hollow and the output is output to the upper part. It is an output shaft translation rod in which a flange 8 for bearing the thrust load of the shaft is formed. An output shaft 9 is rotatably supported by the output shaft translation rod.

The engaging portion of each rotor and the output shaft, so as to form an electric direct drive motor 10 ₁ to 10 _4, such as a brushless motor,
Permanent magnet 11 on the rotor side and stator coil 12 on the stator side.
Has been placed. Therefore, the first electric direct drive motor 10
_{1 for the} outer eccentric rotor 3, the second electric direct drive motor 10 _{2 for the} inner eccentric rotor 4, the third electric direct drive motor 10 _{3 for the} output shaft translation rotor 5, and the fourth electric direct drive motor 10 ₄ Thus, the output shafts 9 are independently driven to rotate.

With the above structure, the output shaft 9 is combined with the eccentric rotations by the rotation of the outer eccentric rotor 3 and the inner eccentric rotor 4, and any eccentric rotation is combined with the eccentric amount. Can be moved to a position. When the output shaft translation rotor 5 rotates, the output shaft translation rod 6 is translated in the axial direction by the ball screw mechanism, and the output shaft 9 can be moved to any position in the axial direction. further,
The output shaft 9 may be any angular rotation around the axis by a fourth electric direct drive motors 10 _4. Therefore, the output shaft 9 of the four-axis composite eccentric positioning device 1 is translated by three electric direct drive motors in the three-axis (X, Y, Z) directions.
A motion with four degrees of freedom of rotation around the output shaft (Z axis) can be given, and positioning of the four axes can be arbitrarily performed.

The three-axis compound eccentric positioning device 15 of FIG. 2 does not have a translational movement in the direction of the output shaft as compared with that of FIG. In the figure, 16 is a fixed cylinder, 17 is an outer eccentric rotor, 18 is an inner eccentric rotor, 19 is an output shaft, and 20 _{1 to} 20 ₃ are electric direct drive motors. Therefore, the positioning device 15 has three degrees of freedom of translational movement in a two-dimensional plane and rotational movement around the output shaft. In this embodiment, for safety at the time of high load, brake discs 21 _{1 to} 21 ₃ are provided on the outer peripheral portion of each rotor, and correspondingly, actuators 22 _{1 to} 22 ₃ for narrowing the disc are driven. The appropriate number of disc brake mechanisms 25 _{1 to} 25 _{3 including} actuators 24 _{1 to} 24 ₃ are provided. When using the composite eccentric positioning mechanism in a vertical position, if a brake mechanism is provided as in this example, the brakes will immediately operate and the rotational position of each rotor can be maintained at that position in the event of a power failure or the like. Even if the payload of the simulator is large, it is possible to hold the cockpit at that position and prevent accidents such as dropping.

In the figure, 26 ₁ to 26 ₃ is a rotational angle detector of the rotor and the output shaft.

Next, an embodiment of the motion simulator of the present invention in which the above-described composite eccentric positioning device is adopted as a driving device will be described. In each of the embodiments described below, the X-axis of the virtual Cartesian coordinates passing through the center of motion of the cockpit is the axis in the front-rear direction of the cockpit, the Y-axis is the axis in the left-right direction, and Z is Z.
The axis is the vertical axis.

3 and 4 show an example of a 5-axis motion simulator having 5 degrees of freedom. In the figure, 27 is a cockpit, in which a simulated control device, a visual field simulation device, etc. are provided. The cockpit 27 has support shafts protruding from both side walls on the Y axis, one support shaft via a first drive device 28 composed of a single electric direct drive motor, and the other support shaft via a bearing. It is rotatably supported by a movable frame 29 in the shape of a U-shaped rotary frame through or directly. The movable frame 29 is supported on the fixed frame 31 on the Z-axis at the bottom of the movable frame 29 via a second drive device 30 composed of a 4-axis compound eccentric positioning device as shown in FIG.

Therefore, the second driving device 30 causes the movable frame 29 to move to X, Y, Z
A translational motion in the axial direction and a rotational motion θz about the Z axis are given,
The first drive device 28 rotates in the cockpit about the Y-axis θ
y can be given, so cockpit 27 has a total of 5
Motion simulation with a degree of freedom is possible. Thereby, it is possible to simulate complicated motions such as vertical movements, front-back movements, left-right movements, pitching, yawing, and spinning of an aircraft or the like. If the cockpit is supported on the movable frame on the X axis, rolling can be performed instead of pitching. And X, Y, θ
Since the movements of z and θy are directly performed by the electric direct drive motor, the speed can be increased, and the movements in the Z-axis direction are relatively slow because they are performed through the ball screw. The maximum stroke of each movement is that the translational movement in the X and Y directions is twice the sum of the eccentricity amounts of the outer eccentric rotor and the inner eccentric rotor of the compound eccentric positioning device, and the translational movement in the Z-axis direction is Z. The length of the axial ball screw. Further, although θz and θy can be continuously rotated, the required movement can usually be obtained and high speed movement can be achieved by using within ± 180 °.

FIG. 5 shows another embodiment of a 5-axis motion simulator having 5 degrees of freedom.

In the present embodiment, the bottom of the cockpit 33 is supported by the rotor of the electric direct drive motor 34 on the Z axis so that the electric direct drive motor 34 moves linearly on the arc-shaped track 35.
A circular frame-shaped orbit 35 is supported on the output shaft of a second drive unit 37 composed of a compound eccentric positioning device as shown in FIG. In the above embodiment, the electric direct drive motor 34 and linear motor 36
The drive device is constituted, and the arcuate orbit 35 constitutes a movable frame.

Therefore, the cockpit 33 is XYZ by the second drive device 37.
Translational movement in direction and rotational movement θz about Z axis, and motor
When the set angle θz ′ of 34 is 0 °, the rotational movement θy about the Y axis can be performed by the linear motor 36 on the circular arc orbit. Also θ
When z '= 90 °, the seat axis is changed and the Y axis is changed to X.
It replaces the axis and can make a rotational movement θx around the X axis. Then, with the motor 34, the initial position θ of the rotational movement of the cockpit
By setting z ′ and rotating the second drive device 37 about the Z axis, yawing θz at the initial position can be performed. Therefore, although it is a movement of 5 axes as a whole, by changing the seat axis, it is possible to give a movement of 6 axes to the cockpit. Motion simulation can be performed. Furthermore, θz ′ = 0 °
In the range of 90 °, rotation about any axis intersecting the X axis or the Y axis at a predetermined angle is possible. Note that an arc-shaped ball screw may be used instead of the linear motor as the driving device along the arc-shaped trajectory.

The maximum stroke of each movement in the above-mentioned embodiment is the same as that in the above-mentioned embodiment, although the translational movements in the X, Y, and Z-axis directions and θz are the same as those in the above-mentioned embodiment.
θx is 0 ° when θz ′ = 0 ° and is approximately ± 30 ° when θz ′ = 90 °. θy is + when θz ′ = 0 °
90 ° to −30 °, and 0 ° when θz ′ = 90 °. Further, in the range of θz ′ = 0 ° to 90 °, rotation about an arbitrary axis intersecting the X axis or the Y axis at a predetermined angle is possible.

FIG. 6 shows still another embodiment of the 5-axis motion simulator having 5 degrees of freedom.

In this embodiment, the second fixed frame 39 is installed on the ground.
A second drive device 40 comprising a vertical type three-axis compound eccentric positioning device as shown in the figure is provided, and an output shaft 41 of the second drive device is provided.
Is provided with an L-shaped movable frame 42, the horizontal plane of the movable frame 42 is further provided with a first drive device 43 composed of a horizontal type three-axis compound eccentric positioning device, and a cockpit 38 is fixed to an output shaft 44 thereof. .

Therefore, the cockpit 38 is translated by the vertical type three-axis compound eccentric positioning device in the Y and Z-axis directions and by θx (θz = 0.
5 °) or θy (when θz = 90 °), and a horizontal three-axis overlapped eccentric positioning device for translational motion in the X and Y-axis directions and θz, a total of five axes. By changing the seat axis as in the example, it is possible to give movements of substantially 6 axes. Further, in the range of θz = 0 ° to 90 °, rotation about an arbitrary axis intersecting the X axis or the Y axis at a predetermined angle is possible. The maximum stroke of each movement is the same as that in the above embodiment in X, Y, Z and θz.
The translational movement in the Y-axis is doubled in the X-axis because it is provided by both positioning devices. Similarly, when the seat axis is changed, the stroke in the X-axis direction becomes double the stroke in the Y-axis direction. That is, a large stroke that is four times the sum of the eccentricity amounts can be obtained. θx is less than ± 180 ° when θz = 0 ° and θz = 9
When it is 0 °, it is 0 °. Further, θy is less than ± 180 ° when θz = 90 ° and 0 ° when θz = 0 °.

7 and 8 show an embodiment of a 6-axis motion simulator having 6 degrees of freedom.

In the embodiment shown in FIG. 6, in the embodiment shown in FIG. 6, the cockpit 46 is a first movable frame 47 as shown in FIG. 3 and FIG. The first movable frame 47 is rotatably supported by a driving device 48, and the first movable frame 47 is an L-shaped second movable frame 50 via a second driving device 49 which is a horizontal three-axis compound eccentric positioning device.
Is supported. Further, the second movable frame 50 is supported by the fixed frame 52 via the third driving device 51 which is a vertical compound eccentric positioning device. Therefore, the basic movement of the cockpit 46 is the rotational movement θy about the Y axis by the first drive device 48, the translational movement in the X and Y axis directions and the rotational movement θz of the Z axis by the second drive device 49, and the third drive. The device 51 is capable of translational movement in the Y and Z axis directions and rotational movement .theta.x in the X axis in six axes. Here, the Y-axis direction can move twice as much as the X-axis direction. Also, when θz is rotated from 0 ° to 90 °, the axis seen from the cockpit is switched to the X axis and the Y axis, and this time, the X axis direction can move twice as much as the Y axis direction. Furthermore, in the range of θz = ± 0 ° to 90 °, θx and θ
Movements in the middle of y are possible.

Therefore, according to the present embodiment, since 6-axis movements can be performed at the same time, it is possible to simulate loose movements such as front and rear, left and right, pitching, rolling, yawing, spin and a combined movement of these, such as an aircraft.

FIG. 9 shows another embodiment of a 6-axis motion simulator having 6 degrees of freedom.

Compared with the embodiment shown in FIG. 7, the device of this embodiment supports the cockpit 55 on the first movable frame 56 in an arcuate track so as to be rotatable about the Y axis via a first drive device 57 such as a linear motor. Since the other points are the same and the other configurations are the same, the same reference numerals are given to the same components. Therefore, the device of the embodiment is the same as that shown in FIG.
The stroke is limited to the range of the circular arc trajectory (θy = + 90 ° to -30 °), and other movements are the same.

FIG. 10 shows a modification of the motion simulator shown in FIG. 9, and a 6-axis motion simulator having 6 degrees of freedom shows still another embodiment.

In the apparatus of this embodiment, the cockpit 60 is supported by the output shaft of the first driving device 61 which is composed of a horizontal type three-axis compound eccentric positioning device, and the first driving device 61 is further movable by a first movable device having a linear motor. The frame 62 is supported, and the movable frame is moved on an arcuate track 64 of the second movable frame 63 by a second drive device 65 composed of a linear motor. Further, the second movable frame 63 is supported by a fixed frame 67 via a third drive device 66 which is composed of a vertical type three-axis compound eccentric positioning device. Therefore, the apparatus of this embodiment is equivalent to the apparatus shown in FIG. 6 to which the movement of θy is added, and the movement having a total of 6 degrees of freedom can be performed.
The maximum stroke of each axis is the same as that of the embodiment shown in FIG. The cockpit in each of the above embodiments has visual simulators 32, 45, 58, 68 and a simulated control device, respectively.

Although various types of embodiments of the motion simulator of the present invention have been described above, the present invention is not limited to the above embodiments of the present invention, and various design changes are possible within the scope of the claims. Needless to say. Further, the motion simulator of the present invention is capable of complex movements with multiple degrees of freedom, has high accuracy and excellent responsiveness, and can stably operate even under a high load, and therefore, the aircraft, spacecraft, high-speed boat, etc. However, it is applicable to motion simulators in various other fields. For example, in the fields of ergonomics, medical fields, animal experiments, etc., as a sensation experiment device that gives various movements to humans and animals to measure their physical sensitivity and influence, or as an amusement park where people experience complex movements. It can also be applied as a device or the like. As the motion mechanism section, it is also possible to combine a hydraulic cylinder with the electric direct drive rotation mechanism as in the above embodiment, depending on the purpose of use.

(Effect) The present invention is configured as described above, and has the following remarkable effects.

Since a compound eccentric positioning device is adopted as a drive device that gives movement to the cockpit, basically it is possible to give movements with multiple degrees of freedom only by rotational drive, and quick movement is possible, and it is highly accurate and complicated. You can give a great movement. Also, the stroke can be increased by increasing the amount of eccentricity of the compound eccentric positioning device, and even if the stroke is increased, there is no damage due to the large load acting on the drive unit unlike the conventional hydraulic cylinder type. , The operation is stable even for long-term operation, and the maintenance cost is drastically reduced. Moreover, since the drive is direct, high torque can be obtained and the payload can be increased. Also, because you can get multiple degrees of freedom movement at the same time. It is also possible to simulate complex movements such as spins, which cannot be obtained with conventional motion simulators.

Further, according to the configuration using two three-axis compound eccentric positioning devices like the motion simulators according to claims 4 to 6, translational motions in the X, Y and Z axis directions, θx, θy,
A 6 degree-of-freedom motion of the rotational motion of θz can be obtained at the same time, and it is possible to simulate all motions of an aircraft and the like. Moreover, an extremely advanced motion simulator with high accuracy, high responsiveness, large stroke, and high payload is provided. can get.

[Brief description of drawings]

The drawings show an embodiment of the present invention, FIG. 1 is a side sectional view of a 4-axis compound eccentric positioning device used in a motion simulator of the present invention, and FIG. 2 is a side sectional view of a vertical 3-axis compound eccentric positioning device. FIGS. 3 and 4 are side views of a motion simulator having 5 degrees of freedom, FIG. 4 is a front view thereof, and FIG. 5 is a side view including a partial sectional view of another embodiment of the motion simulator having 5 degrees of freedom. FIG. 6 is a side view including a partial cross-sectional view of still another embodiment of the motion simulator with 5 degrees of freedom, FIG.
The figure is a side view of a motion simulator with 6 degrees of freedom, 8th
FIG. 9 is a front view thereof, FIG. 9 is a side view including a partial sectional view of another embodiment of a 6-DOF motion simulator, and FIG. 10 is a part of yet another embodiment of a 6-DOF motion simulator. It is a side view including a sectional view. 1: 4-axis compound eccentric positioning device, 2, 16: Fixed cylinder, 3, 1
7: Outer eccentric rotor, 4, 18: Inner eccentric rotor, 5: Output shaft translation rotor, 6: Output shaft translation rod, 9, 19, 41: Output shaft, 1
0,20,34: Electric direct drive motor, 15: 3-axis compound eccentric positioning device, 27,33,38,46,55,60: Cockpit, 28,43,48,5
7,61: First drive device, 29,42: Movable frame, 30,37,40,4
9,65: Second drive device, 31,39,52,67: Fixed frame, 35,6
4: Circular orbit, 47,56,62: 1st movable frame, 50,63: 2nd
Movable frame, 51, 66: Third drive device

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Seizo Suzuki 3-8-4 Shinkawa, Mitaka City, Tokyo (72) Inventor Naoaki Kuwano 7-43-3 Jindaiji Higashimachi, Chofu City, Tokyo Kyotaka Dormitory (72) Inventor Yoshinori Sakai 1 Kawasaki-cho, Kakamigahara-shi, Gifu Kawasaki Heavy Industries, Ltd. Gifu factory (72) Inventor Nobuharu Niwa 1 Kawasaki-cho, Kakamigahara-shi, Gifu Kawasaki Heavy Industries, Ltd. Gifu factory (72) Inventor Masao Uekusa Toyama, Toyama 20 Ishigane Fujikoshi Co., Ltd. (72) Inventor Goji Inaba Fujikoshi Co., Ltd. 20 Ishigane, Toyama City, Toyama Prefecture (56) Reference JP-A-3-59586 (JP, A)

Claims (7)

[Claims] 1. A cockpit, a movable frame that supports the cockpit via a first drive device that gives movement to the cockpit in at least one degree of freedom, and a movable frame capable of giving movement to at least one degree of freedom. A fixed frame that supports the movable frame via two drive devices, and at least one drive device of the first drive device and the second drive device is rotatably supported by the fixed cylinder and the fixed cylinder. An outer eccentric rotor, an inner eccentric rotor rotatably supported at an eccentric position of the outer eccentric rotor, an output shaft at an eccentric position of the inner eccentric rotor, and between the fixed cylinder and the outer eccentric rotor, and the outer eccentric rotor. An electric direct drive motor mechanism is formed between the inner eccentric rotor and the inner eccentric rotor, and drive control is possible with the output shaft having at least three degrees of freedom. Is constituted by a composite eccentric electric direct drive positioning device, multi-axis motion simulator having multiple degrees of freedom, characterized by comprising supporting the cockpit or the movable frame by the output shaft. 2. The first drive device is a virtual orthogonal XYZ coordinate that passes through the center of motion of the cockpit (where X axis is the longitudinal axis of the cockpit, Y axis is the horizontal axis, and Z axis is the vertical direction). 1) of rotational movement about the X or Y axis
The multi-axis motion simulator according to claim 1, wherein the multi-axis motion simulator is a rotary drive device that gives a motion with a degree of freedom. 3. A first drive device is constituted by the composite eccentric type electric direct drive positioning device in which an output shaft is rotatably supported by an inner eccentric rotor, and an X-axis is provided in the cockpit.
3 of translational movement in the direction of the axis and Y axis, and rotational movement around the Z axis
The multi-axis motion simulator according to claim 1, wherein the multi-axis motion simulator is configured to be capable of giving a movement with a degree of freedom. 4. The second drive device has an output shaft capable of translational movement in a two-dimensional plane with respect to the inner eccentric rotor, vertical movement with respect to the two-dimensional plane, and rotation about an axis perpendicular to the two-dimensional plane. It is constituted by the composite eccentric type electric direct drive positioning device supported by the above, and is capable of imparting to the movable frame four-degree-of-freedom movement of translational motion in the X-axis, Y-axis and Z-axis directions and rotational motion about the Z-axis. The motion simulator according to claim 1, wherein: 5. A cockpit, a first movable frame that supports the cockpit via a first drive device that gives movement to the cockpit in at least one degree of freedom, and a movement of at least one degree of freedom in the first movable frame. A second supporting device for supporting the movable frame via a second drive device capable of
A movable frame, and a fixed frame for supporting the second movable frame via a third drive device capable of giving at least one degree of freedom to the second movable frame,
At least one of the first to third drive devices is a fixed cylinder, an outer eccentric rotor rotatably supported by the fixed cylinder, and an inner eccentric rotor rotatably supported at an eccentric position of the outer eccentric rotor. An output shaft at an eccentric position of the inner eccentric rotor, an electric direct drive motor mechanism is formed between the fixed cylinder and the outer eccentric rotor, and between the outer eccentric rotor and the inner eccentric rotor, and at least the output shaft is connected to the output shaft. It is composed of a plurality of eccentric type electric direct drive positioning devices having three degrees of freedom and capable of drive control, and the output shaft supports any one of the cockpit, the first movable frame or the second movable frame. A multi-axis motion simulator with multiple degrees of freedom. 6. A first drive device is a rotary drive device that imparts one degree of freedom of rotational movement about an X-axis or a Y-axis to a cockpit, and a second drive device is an X-axis and a Y-axis on a first movable frame. The output shaft is constituted by the composite eccentric type electric direct drive positioning device in which the output shaft is rotatably drivable by the inner eccentric rotor so as to give a translational motion in the axial direction and a rotary motion about the Z axis. X axis or Y on 2 movable frames
By a horizontal composite eccentric type electric direct drive positioning device in which an output shaft is rotatably driven by an inner eccentric rotor so as to provide translational movement in the axial direction and the Z axis direction and rotation about the X axis or the Y axis. The cockpit is composed of X-axis and Y-axis.
The multi-axis motion simulator according to claim 5, which is capable of imparting translational motion in the directions of the axes and Z-axis and rotational motion about each axis with 6 degrees of freedom. 7. A horizontal type in which an output shaft is rotatably supported by an inner eccentric rotor so that the first drive device imparts translational motion in the X-axis and Y-axis directions and rotational motion about the Z-axis to the cockpit. And the second driving device is a rotary driving device that imparts one degree of freedom of rotational movement about the X-axis or the Y-axis.
The output shaft is rotatably supported by the inner eccentric rotor so that the drive device imparts translational movement in the X-axis or Y-axis direction and Z-axis direction to the second movable frame and rotation about the X-axis or Y-axis. 6. A composite eccentric type electric direct drive positioning device, which is capable of imparting 6-degree-of-freedom movement of translational motion in the X-axis and Y-axis Z-axis directions and rotational motion about each axis to the cockpit. Multi-axis motion simulator.