| 摘要 |
A motion system is operable on a substantially flat stage 6, for example a ground surface or a liquid surface, to impose motion on a motion platform 1, which may be a self-contained vehicle, and comprises a plurality of feet, preferably three feet 2, 3, 4, coupled to motion platform 1 and capable of moving freely across stage 6 in two dimensions so as to impose substantially arbitrary three-dimensional motion on motion platform 1 relative to stage 6. Legs 5 may be articulated to the motion platform by revolute joints and to feet 2, 3, 4 by spherical joints, and typically adjust in height allowing platform 1 to tilt. Feet 2, 3, 4 may comprise omnidirectional wheels or balls or may cooperate with stage 6 as a planar electric motor. Platform 1 is preferably a motion simulator; alternatively, platform 1 may be a vehicle for use in a warehouse or on rough terrain. Alternatively, platform 1 may transfer loads from a boat to an oil rig; in this case feet 2, 3, 4 may be buoyant. |
