# US 10,870,062 B2 · Inertial platform > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,870,062 B2 - Document ID: US10870062B2 - Status: Granted - Kind: B2 - Application number: 16/077,886 - Filed: 2017-02-15 - Published: 2019-02-14 - Granted: 2020-12-22 - Earliest claimed: 2016-02-17 - Assignees: Kyneprox S.R.L. - Applicants: Kyneprox S.R.L. - Inventors: Giovanni Ausenda - Web page: https://patentgrep.com/patent/US10870062B2 ## CPC - A63G 31/02: with moving substructures - B60N 2/501: {actively controlled suspension, e.g. electronic control} - B60N 2/508: {Scissors-like structure} - G09B 9/02: for teaching control of vehicles or other craft - B60N 2/39: Seats tiltable to compensate for roll inclination of vehicles - B60N 2/502: {attached to the base of the seat (B60N2/504 takes precedence)} - F16M 11/121: {constituted of several dependent joints} - F16M 11/2042: {constituted of several dependent joints} - A63G: MERRY-GO-ROUNDS; SWINGS; ROCKING-HORSES; CHUTES; SWITCHBACKS; SIMILAR DEVICES FOR PUBLIC AMUSEMENT - B60N: SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR - G09B: EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS (devices for psychotechnics or for testing reaction times A61B5/16; games, sports, amusements A63; projectors, projector screens G03B) - F16M: FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS ## Abstract Provided is an inertial platform including an upper support that can be integrally attached to a mobile element and defines an upper plane, a base support that can be fixed to the ground and defines a base plane, at least one intermediate support arranged between the base and upper supports, articulated quadrilaterals each including two lower hinges, connected to one of the base or intermediate supports, two upper hinges, connected to one of the intermediate or upper supports, two rods which connect the lower hinges to the upper hinges in a crossed manner, and motor means configured to move the articulated quadrilateral internally according to its single degree of freedom defining an axis of rotation, and each including sensing means to detect the position of the upper plane with respect to the gravitational gradient functionally connected to means of control of the platform and at least to the motor means. ## Claims ### Claim 1 An inertial platform, comprising: an upper support that can be integrally attached to a mobile element and defines an upper plane, a base support that can be fixed to the ground and defines a base plane, at least one intermediate support arranged between said base support and upper support, wherein the intermediate support is connected to the upper support, wherein the intermediate support is connected to the base, and wherein to connect the intermediate support to the base, the inertial platform comprises at least one articulated quadrilateral, comprising: two lower hinges, fixed and connected to said base, two upper hinges, fixed and connected to said intermediate support, and two rods which connect said lower hinges to said upper hinges in a crossed manner, and/or wherein to connect the intermediate support to the upper support, the inertial platform comprises at least one articulated quadrilateral comprising: two lower hinges, fixed and connected to said intermediate support and two upper hinges, fixed and connected to said upper support, and two rods which connect said lower hinges to said upper hinges in a crossed manner, and wherein for each said articulated quadrilateral no hinge is provided between said rods, wherein for each said articulated quadrilateral there is respective motor means configured to move said articulated quadrilateral internally according to its single degree of freedom defining an axis of rotation, and sensing means to detect the position of said upper plane with respect to the gravitational gradient functionally connected to an electronic controller for control of said platform and at least to said motor means. ### Claim 2 (depends on 1) The inertial platform as claimed in claim 1, wherein there are at least two of said at least one articulated quadrilateral, said articulated quadrilaterals being substantially placed one on top of the other and defining reciprocally oblique axes of rotation. ### Claim 3 (depends on 1) The inertial platform as claimed in claim 1, wherein in a respective said articulated quadrilateral, said rods are substantially of the same length, whereas the distance between said upper hinges is different from the distance between said lower hinges. ### Claim 4 (depends on 1) The inertial platform as claimed in claim 1, wherein, in each articulated quadrilateral, said motor means comprise a linear actuator connected to both of said rods not in correspondence with said lower hinges. ### Claim 5 (depends on 4) The inertial platform as claimed in claim 4, wherein said linear actuator is connected to both of the rods in a same right-hand or left-hand portion, and is connected to the rod, which in the rest configuration is lower down, at that point, at a distance comprised between one half and one eighth of said rod. ### Claim 6 (depends on 1) The inertial platform as claimed in claim 1, wherein said motor means further comprise a linear actuator defining a direction parallel to and equidistant from said upper and lower planes, two intermediate hinges and two intermediate rods, said intermediate hinges being arranged at the ends of said linear actuator with respect to said direction and said intermediate rods connecting said intermediate hinges to said lower hinges and upper hinges arranged on the same side of said articulated quadrilateral. ### Claim 7 (depends on 1) The inertial platform as claimed in claim 1, wherein said articulated quadrilateral is a “Chebyshev linkage”. ### Claim 8 (depends on 1) The inertial platform as claimed in claim 1, wherein, in a rest configuration, said axes of rotation belonging to different articulated quadrilaterals are substantially perpendicular to one another. ### Claim 9 (depends on 1) The inertial platform as claimed in claim 1, wherein each of said articulated quadrilaterals comprises a plurality of rod and hinge structures, arranged parallel to one another so as to ideally form a single articulated quadrilateral. ### Claim 10 (depends on 9) The inertial platform as claimed in claim 9, configured to keep said upper plane in a predefined position with respect to the gravitational gradient. ### Claim 11 (depends on 1) The inertial system, comprising an inertial platform as claimed in claim 1. ### Claim 12 An inertial platform, comprising: an upper support that can be integrally attached to a mobile element and defines an upper plane, a base support that can be fixed to the ground and defines a base plane, at least one intermediate support arranged between said base support and upper support, wherein the at least one intermediate support is connected to the upper support, wherein comprising at least one articulated quadrilateral, comprising: two lower hinges, fixed and connected to one of said base support, two upper hinges, fixed and connected to one of said intermediate support, two rods which connect said lower hinges to said upper hinges in a crossed manner, and no hinge is provided between said rods, motor means configured to move said articulated quadrilateral internally according to its single degree of freedom defining an axis of rotation, and sensing means to detect the position of said upper plane with respect to the gravitational gradient functionally connected to means for controlling said platform, suitable to control said motor means, and at least to said motor means. ### Claim 13 (depends on 12) The inertial platform as claimed in claim 12, wherein there are at least two of said at least one articulated quadrilateral, said articulated quadrilaterals being substantially placed one on top of the other and defining reciprocally oblique axes of rotation. ### Claim 14 (depends on 12) The inertial platform as claimed in claim 12, wherein, in each articulated quadrilateral, said motor means comprise a linear actuator connected to both of said rods not in correspondence with said lower hinges. ### Claim 15 (depends on 14) The inertial platform as claimed in claim 14, wherein said linear actuator is connected to both of the rods in a same right-hand or left-hand portion, and is connected to the rod, which in the rest configuration is lower down, at that point, at a distance comprised between one half and one eighth of said rod. ### Claim 16 (depends on 12) The inertial platform as claimed in claim 12, wherein said articulated quadrilateral is a “Chebyshev linkage”. ### Claim 17 (depends on 12) The inertial platform as claimed in claim 12, wherein, in a rest configuration, said axes of rotation belonging to different articulated quadrilaterals are substantially perpendicular to one another. ### Claim 18 (depends on 12) The inertial platform as claimed in claim 12, wherein each of said articulated quadrilaterals comprises a plurality of rod and hinge structures, arranged parallel to one another so as to ideally form a single articulated quadrilateral. ### Claim 19 (depends on 18) The inertial platform as claimed in claim 18, configured to keep said upper plane in a predefined position with respect to the gravitational gradient. ### Claim 20 (depends on 12) The inertial system, comprising an inertial platform as claimed in claim 12.