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US 11,049,410 B2Granted
Device and method for replicating wave motion
AssigneeThe United States of America as represented by the Secretary of the Navy
InventorsKurt A Talke, Nicholas C Stroumtsos, Dylan T. J. Drotman
Life of this patent
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Abstract
A device includes a frame having a plurality of rails, each rail including a slider. A first rail support member is connected to a first end of the plurality of rails, and a second rail support member is connected to a second end of the plurality of rails. The second end is opposite the first end. A plurality of arms is connected to the sliders. Each arm includes a ball joint at one end connected to one of the sliders. Each arm includes another end, opposite the one end, connected to a platform via a hinge joint. The platform is configured to roll and pitch via changing positions of the sliders along the plurality of rails.
Claims17
A wave motion replicator comprising:
- a frame comprising:
- a plurality of rails, each rail including a slider, wherein the plurality of rails is configured as a radially symmetric set, wherein a length of each rail is greater than four times a radius of the frame;
- a first rail support member connected to a first end of the plurality of rails;
- and
- a second rail support member connected to a second end of the plurality of rails, wherein the second end is opposite the first end;
- and
- a platform connected to the frame via a plurality of arms, wherein each arm includes a ball joint at one end connected to one of the sliders, and wherein each arm includes another end opposite the one end and connected to the platform via a hinge joint,
- wherein the platform is configured to roll and pitch via changing positions of the sliders along the plurality of rails;
- and
- a plurality of motors each connected to one of the sliders and configured to actuate the sliders along the plurality of rails;
- and
- a controller communicatively coupled to the plurality of motors and configured to cause each of the sliders to move along their respective rails such that the platform replicates motion of a vessel on a surface of an ocean.
9 more elements
A wave motion replicator comprising:
- a frame comprising:
- a plurality of rails, each rail including a slider;
- a first rail support member connected to a first end of the plurality of rails;
- and
- a second rail support member connected to a second end of the plurality of rails, wherein the second end is opposite the first end;
- and
- a platform connected to the frame via a plurality of arms, wherein each arm includes a ball joint at one end connected to one of the sliders, and wherein each arm includes another end opposite the one end and connected to the platform via a hinge joint, wherein the platform is configured to roll and pitch via changing positions of the sliders along the plurality of rails;
- a plurality of motors each connected to one of the sliders and configured to actuate the sliders along the plurality of rails;
- a controller communicatively coupled to the plurality of motors and configured to cause each of the sliders to move along their respective rails such that the platform replicates motion of a vessel on a surface of an ocean;
- and
- a UAV tether winch connected to the platform.
8 more elements
A wave motion replicator comprising:
- a frame comprising:
- a plurality of rails, each rail including a slider;
- a first rail support member connected to a first end of the plurality of rails;
- and
- a second rail support member connected to a second end of the plurality of rails, wherein the second end is opposite the first end;
- and
- a platform connected to the frame via a plurality of arms, wherein each arm includes a ball joint at one end connected to one of the sliders, and wherein each arm includes another end opposite the one end and connected to the platform via a hinge joint, wherein the platform is configured to roll and pitch via changing positions of the sliders along the plurality of rails;
- a plurality of motors each connected to one of the sliders and configured to actuate the sliders along the plurality of rails;
- a controller communicatively coupled to the plurality of motors and configured to cause each of the sliders to move along their respective rails such that the platform replicates motion of a vessel on a surface of an ocean, wherein the controller is configured to minimize kinematic lock by not allowing any hinge joint to have a hinge angle greater than 150°.
6 more elements
A method for replicating ocean wave motion comprising:
- providing a device including a frame having a plurality of rails, each rail including a slider;
- and a plurality of arms connected to the sliders via ball joints at one end and connected to a platform via hinge joints at another end opposite the one end, wherein the plurality of rails is configured as a radially symmetric set, wherein a length of each rail is greater than four times a radius of the frame;
- actuating the sliders along the plurality of rails via a plurality of motors;
- and
- adjusting roll and pitch of the platform via changing positions of the sliders along the plurality of rails such that the platform replicates motion of a vessel on a surface of an ocean.
2 more elements
A method for replicating ocean wave motion comprising:
- providing a device including a frame having a plurality of rails, each rail including a slider;
- and a plurality of arms connected to the sliders via ball joints at one end and connected to a platform via hinge joints at another end opposite the one end;
- actuating the sliders along the plurality of rails via a plurality of motors;
- controlling the plurality of motors via a controller configured to communicate with the plurality of motors to implement a path model within a roll-pitch configuration space;
- adjusting roll and pitch of the platform via changing positions of the sliders along the plurality of rails such that the platform replicates motion of a vessel on a surface of an ocean, wherein the roll-pitch configuration space does not have disjoint regions and is configured to minimize kinematic lock by not allowing any hinge joint to have a hinge angle greater than 150°.
2 more elements
Dependencies are inferred from the claim text.