U.S. patent number 3,859,736 [Application Number 05/029,979] was granted by the patent office on 1975-01-14 for kinesthetic control simulator.
This patent grant is currently assigned to The United States of America as represented by the Administrator of the. Invention is credited to Paul R. Hill, David F. Thomas, Jr..
United States Patent |
3,859,736 |
Hill , et al. |
January 14, 1975 |
KINESTHETIC CONTROL SIMULATOR
Abstract
A kinesthetic control simulator having a flat base upon which
rests a support structure having a lower spherical surface for
rotation on the base plate with columns which support a platform
above the support structure at a desired location with respect to
the center of curvature of the spherical surface. A handrail is at
approximately the elevation of the hips of the operator above the
platform with a ring attached to the support structure which may be
used to limit the angle of tilt. Five degree freedom-of-motion can
be obtained by utilizing an air pad structure for support of the
control simulator.
Inventors: |
Hill; Paul R. (Hampton, VA),
Thomas, Jr.; David F. (Hampton, VA) |
Assignee: |
The United States of America as
represented by the Administrator of the (Washington,
DC)
|
Family
ID: |
21851902 |
Appl.
No.: |
05/029,979 |
Filed: |
April 20, 1970 |
Current U.S.
Class: |
434/55; 472/135;
482/146 |
Current CPC
Class: |
B64G
7/00 (20130101) |
Current International
Class: |
B64G
7/00 (20060101); G09b 009/08 () |
Field of
Search: |
;35/12R,12C,12E,12P
;272/1B,1C,1R,33R,33A,57A,60 |
References Cited
[Referenced By]
U.S. Patent Documents
Primary Examiner: Pinkham; Richard C.
Assistant Examiner: Stouffer; R. T.
Attorney, Agent or Firm: Osborn; Howard J. Manning; John
R.
Claims
What is claimed as new and desired to be secured by Letters Patent
of the United States is:
1. A kinesthetic control simulator comprising:
support means having a spherical lower surface;
base means for support of said support means;
a platform mounted in spaced relation to said support means for
supporting an operator;
framework means extending upwardly from said platform; and
means for vertically positioning the center of gravity of the
simulator and an operator above, below and corresponding to the
center of rotation of said spherical lower surface wherein said
means for vertically positioning includes column means for spacing
said platform from said support means and for vertically
positioning the center of gravity of the simulator and an operator
relative to the center of rotation of said spherical lower surface
whereby the simulator may simulate a stable, unstable and neutrally
stable flying platform.
2. The simulator of claim 1 wherein said means for vertically
positioning includes a first removably counterweight means attached
to said framework means and a second removable counterweight means
attached to said support means, said first and second counterweight
means for vertically positioning the center of gravity of the
simulator and an operator relative to the center of curvature of
said spherical lower surface.
3. The simulator of claim 2 including pneumatic support means for
the simulator, whereby five degrees freedom of motion is provided
for simulation of a powered, flying platform.
Description
ORIGIN OF THE INVENTION
The invention described herein was made by employees of the U.S.
Government and may be manufactured and used by or for the
Government for governmental purposes without the payment of
royalties thereon or therefor.
BACKGROUND OF THE INVENTION
This invention relates generally to simulators and more
particularly to a kinesthetic control simulator for experience in
multiple degree freedom of movement.
Previous devices utilized a balancing platform free to rotate about
one horizontal axis. Rotation of the platform was used as input to
an automatic servo system to drive the platform along a horizontal
track perpendicular to the axis of platform rotation. This device
failed to operate satisfactorily in that it did not simulate the
attitude control of a flying platform because rotation was
restricted to motion about one axis. Moreover, the platform size
greatly restricted the operator's feet and the control "feel" of
the device did not correspond to previous experiences with actual
flying platforms.
It has also been known to utilize devices on which the operator was
firmly attached by straps or other means and which used, for
example, an air cushion to provide a degree of weightless
simulation and the operator with a feel for three-dimensional
movement. These devices obviously have the disadvantage of being
large and cumbersome and requiring expensive construction, as well
as critical operating procedures. It has also been known to utilize
mechanisms having air cylinders to provide an air cushion for
suspension of the vehicle above the floor surface with the operator
standing in a spherical portion which is mounted for free rotation.
This construction would permit three degrees of freedom; however,
it fails to give the operator a true indication of feel at least
partially caused by the requirement for manual control by the
operator of a reaction gun. Furthermore, the operation of the
device is limited through the amount of air that can be stored
within the chamber on the vehicle or the vehicle movement limited
by some type of conduit for conveying pneumatic pressure for the
air cushion.
Wherever kinesthetic control is used herein the term refers to
control by the sense whose end organs lie in the muscle, tendons
and joints and which are stimulated by bodily movement and
tensions; also known as the muscle means. Kinesthetic alternatively
is the type of sensory experience derived from the sense having its
end organs lying in the muscles, tendons and joints.
It is an object of the instant invention to provide a large radius,
spherical surface for rotational control for attitude simulation of
a flying platform.
Another object of this invention is to provide an inexpensive
readily available device for simulation of kinesthetic control such
as would be used in operating vehicles similar to a lunar flying
platform.
Another object of the instant invention is to provide a simulator
which can be utilized for studying engineering parameters such as
inertia, platform size and control location needed for the design
of both the surface-to-surface and the surface-to-orbit type
vehicles.
Still another object of the instant invention is to provide a safe,
simple, inexpensive, yet accurate, simulator for astronaut
training.
A still further object of this invention is to provide a spherical
surface for rotation upon a base with a stand-on platform for
support of the operator and which is supported above the spherical
surface to provide simulation of a flying platform.
Yet another object of the instant invention is to provide a
kinesthetic control simulator having five degrees freedom of motion
effected by utilizing an air pad structure for support of a control
simulator wherein columns connect a stand-on platform to a
spherical lower surface.
A more complete appreciation of the invention and many of the
attendant advantages thereof will be readily apparent as the same
becomes better understood by reference to the following
description, when considered in connection with the accompanying
drawings, wherein:
FIG. 1 is a side elevational view of the instant invention;
FIG. 2 is a side elevational view of an alternative embodiment of
the invention;
FIG. 3 is a diagrammatic view for analysis of a rocket powered
device similar to the instant invention;
FIG. 4 is a diagrammatic view for analysis of the simulation device
of the instant invention;
FIG. 5 is a side elevational view, with portions omitted for
clarity, of a modified embodiment of the instant invention; and
FIG. 6 shows an isometric view of an air support system for the
control simulator of the instant invention.
Referring now to the drawings and more particularly to FIGS. 1 and
2 wherein the instant inventive simulator 10 is shown as including
base 12 having upper surface 14 on which rests the lower spherical
surface 18 of support 16 that also includes upper surface 20.
Columns 22, FIG. 1, are rigidly secured to surface 26 of platform
28. Platform 28 is the stand-on support for the operator of the
instant inventive simulator 10.
Framework 30 is rigidly secured to platform 28 and extends upwardly
therefrom utilizing vertical frame 32. Handrail 34 extends around
the operator substantially parallel to platform 28 and at
approximately the elevation of the hips of the operator. Horizontal
top frame 36 secures the upper ends of vertical frame 32 and
supports counterweights 40 for a purpose to be more fully
understood hereinafter. As an option in FIG. 1 embodiment,
counterweights 58 may also be added to support 16, the purpose of
which will be explained subsequently.
Center-of-curvature 42 of spherical surface 18 is located in FIG. 1
at approximately the elevation of the waist of the operator.
Center-of-gravity 44 is established by the combined mass of the
operator and simulator 10 structure and should substantially
coincide with center-of-curvature 42 for zero stability.
Tilt ring 50 permits a maximum degree of rotation of simulator 10
and is attached to platform 28 and support 16 by braces 52.
The alternative embodiment of the invention shown in FIG. 2 is
substantially identical to that shown in FIG. 1 with the exception
that platform 28 is spaced a greater distance from flat upper
surface 20 of support 16 by elongated columns 56. It is to be noted
that columns 56 could be of a telescopic construction for use in
the embodiment of both FIGS. 2 and 1, as well as any configuration
therebetween.
A lock pin inserted into coinciding apertures or a similar locking
device could be utilized to adjust the height of platform 28 above
surface 20. It is to be noted that the alternative embodiment is
not provided with the full framework shown in FIG. 1, which would
include counterweights 40, but framework 32 stops at handrail 34.
Center of gravity 46, FIG. 2, substantially above the
center-of-curvature 42 of spherical surface 18, is that of only the
operator and does not include the simulator structure.
An alternative embodiment of the invention would utilize a
structure similator to that of either FIGS. 1 or 2 but weights 58
would be attached to the surface of support 16 to provide a more
stable but active device. It is only necessary that weights 58 be
located below center-of-curvature 42. The greater the amount of
weight added the greater will be the effort required to rotate the
device to thus provide the exerciser or gymnastic equipment.
Referring now to FIG. 3 wherein is shown a diagrammatic analysis of
a rocket powered platform at an initial angle, beta, with respect
to some external reference 88 such as the horizon and which the
operator desires to return to a level attitude such that beta
equals zero degrees. To accomplish this, kinesthetic control calls
for the operator to maintain his center-of-gravity above the center
of the platform with respect to external reference 88, the horizon.
The reactive force on the man is equal to the mass of the man times
the acceleration created by the rocket, F = ma. The control moment
created by this reaction is equal to the reactive force, times the
moment arm, M = F1 sin .delta.. In this expression F is the
reactive force, 1 the distance from the center of the platform to
the operator's center-of-gravity, and .delta. is the kinesthetic
control angle, see FIG. 3. If a in the force equation, F = ma, is
equal to the acceleration of gravity then F = W, the weight of the
man, and the moment equation reduces to M = W 1 sin .delta..
As seen in FIG. 4, the platform simulator is at an initial angle,
beta, with respect to external reference 88, the horizon, and it is
desired to return the platform to a level attitude, beta equals
zero degrees. To accomplish this reorientation, kinesthetic control
calls for the operator to stand erect, moving his center-of-gravity
46 from point A to point B through the control angle .delta..
Simulator 10 is mass-balanced by weights 40, see FIG. 1, which put
its center-of-mass at center-of-curvature 42. Therefore, no gravity
moments are created on simulator 10 as a result of tilting; only
inertia moments are present. Gravity moments are put in only by the
operator and are equal to his weight W times the horizontal
distance b between the vertical action line of his weight passing
through center-of-gravity 46 at point B and the line-of-action of
the floor reaction F which is directly below point A. From the
right angle triangle with base b, hypotenuse l and acute angle
beta, the following relation may be written: b = l sin .beta., see
FIG. 4. Since .delta. is equal to .beta., the expression may be
written as b = 1 sin .delta.. The righting moment, therefore,
is:
M = W l sin .delta.
which is exactly the same as for the rocket powered platform,
whatever the value of .delta.. Thus the kinesthetically induced
reactions of an operator of the simulator are equivalent to those
of an operator of an actual rocket powered platform, and both the
actual platform and the simulator have the same control "feel".
Referring now to FIG. 5 wherein framework 30 of simulator 10, as
shown in FIG. 1, is shown to have outwardly extending horizontal
conduits 62 which convey air pressure from a source, not shown, to
nozzles 60 for release to establish a thrust, T, which is always
aligned with the axis of simulator 10 such that a horizontal
accelerating force equal to T sin .beta. is provided to give
horizontal translation in any direction. Platform 28 is shown as
mounted on four air pads 74 which utilize the pneumatic pressure
from four motorized blowers 76 to support the entire simulator on a
smooth level floor permitting relatively frictionless translation
in a plane and a total of five degrees of motion freedom. The
simulator in this configuration has two degrees of translational
freedom across a floor or the like as well as three degrees of
rotational freedom including rotation about a vertical axis and
freedom to tilt in all directions from the vertical. The device as
shown in FIG. 5 relates only to a translational device and not to a
nontranslational configuration as shown in FIG. 1 wherein it is
critical to have the center-of-gravity and the center-of-curvature
at an identical location for zero static stability. Utilization of
the translational system of FIG. 5 permits investigation of
situations where stabilizing gear, such as gyros, can be located on
control simulator 10, as seen in FIG. 2 by providing a combined
center-of-gravity with respect to the center-of-curvature. In the
translational system investigators are primarily interested in zero
stability, but there must be slight static stability, to compensate
for the inertia of the dolly, as seen in FIGS. 5 and 6, in the
translational embodiment. It is possible to vary the static
stability to investigate the capability of an operator to
compensate for stabilizing gear on board simulator 10.
More detail of the translational support system is shown in FIG. 6
for providing five degress of freedom of motion for control
simulator 10. In the FIG. 6 embodiment dolly 78 includes enlarged
base 70 which has conduit legs 72 attached thereto which extend
downwardly to terminate at pads 74. Power supply means, such as
squirrel cage motors 76 are attached to the undersurface of
enlarged base 70 and provide a source of air pressure which flows
through conduit legs to pads 74 to maintain pneumatic support of
dolly 78. A source of power supply such as electrical current could
be provided by some external source in which case it would be
merely necessary to have one electrical conduit, not shown,
extending from dolly 78 to the source of the electrical current or
a portable supply, such as batteries, not shown, could be mounted
on dolly 78.
OPERATION
To operate simulator 10 the operator, while standing on platform
28, utilizes whatever body motions are necessary to produce desired
platform rotations. In the embodiment of the invention shown in
FIG. 1 kinesthetic control simulator 10 is balanced about
center-of-curvature 42 of spherical surface 18, by means of
counterweights 40 attached to framework 30. Stand-on platform 28 is
located with respect to center-of-curvature 42 of spherical surface
18 such that center-of-gravity 44 of the simulator including the
weight of the operator standing in the normal upright attitude
coincides with center-of-curvature 42. This arrangement provides
the neutral, `zero,` stability in the simulation device that is
also present in a flying platform.
The second embodiment of the instant invention provides a variable
stability capability which is of value in demonstrating kinesthetic
control to those unacquainted with the flying platform. In the
embodiment shown in FIG. 2 the length of columns 56 is increased to
produce a decrease in stability of the operator-device combination.
In this configuration counterweights 40 are removed from simulator
10. However, columns 56 elevate the center-of-gravity of the
simulator to a position at or slightly above the center-of-gravity
42. Location of center-of-curvature 42 approximately at the surface
of stand-on platform 28 establishes a nearly neutral or slightly
negative stability for the combination depending upon the stature
and weight of the operator.
A further alternative embodiment of the instant invention involves
the use of a lightweight construction in conjunction with a rugged
maximum tilt ring 50 which would make simulator 10 useful as an
item of playground equipment. Furthermore, the elimination of
columns 22 and 56 and the addition of weights 58 to spherical
surface 18 would increase the positive stability of the device and
adapt it for use as an item of gymnasium equipment. The two
variations of this alternative embodiment of the instant invention
provide a potential use as body building exercisers for arm and leg
muscles.
The embodiment of the invention as shown in FIGS. 5 and 6 relates
to a translational embodiment having five degrees of freedom of
motion available due to the suspension of kinesthetic control
simulator 10 above the surface upon which it would normally
operate. Thus, in FIG. 5 is shown a construction having four air
pads which would utilize power sources 76, for example four
electric motors or gasoline engines, for providing a pneumatic
source of supply for an air cushion to maintain simulator 10 in a
position for complete freedom in the various attitudes. Nozzles 60
provide downward thrust and also permit the operator to have
translational control.
The embodiment shown in FIG. 6 operates similar to that of FIG. 5;
however, a plurality of pads 74 are utilized for support for dolly
78 which has enlarged base 70 for receiving simulator 10 with base
12 thereon.
Thus it is seen that the instant invention has advantages over
previously known devices in simplicity and realistic simulation of
a flying platform. It is to be noted that the novel simulator
disclosed herein can be produced inexpensively and requires little
or no maintenance. It is possible to alter the construction from
the embodiment shown in FIG. 1 to that of FIGS. 2, 5 or 6 in a very
minimal time period. The device, furthermore, requires no external
power source and because it utilizes only the operator for any type
of power, it is available on demand. Moreover, the instant
simulator provides a readily available and accessible device for
observation of many problems of scientific interest such as high
moment of inertia configuration, instrument handling qualities and
multipassenger-carrying capability. For example, the novel
simulator is able to assist in investigations to determine the
passenger-carrying capability of a lunar flyer. It has been
established that the operator can carry either one or two
passengers without difficulty with the construction of the instant
invention. Moreover, a control simulator having five degrees of
freedom of motion is instantly available simply by mounting the
simulator structure on a dolly such as shown in FIGS. 5 and 6.
* * * * *