Untethered motion simulator systems and methods thereof

A motion simulator system, comprising:

• a base defining a surface;
• a frame, wherein the frame is spherical, and a portion of the frame is nested within the base with a low friction engagement, wherein the frame is untethered from the base and rotatable relative to the base in three rotational degrees of freedom;
• and
• an internal actuator system coupled to an interior region of the frame, wherein the internal actuator system comprises a plurality of momentum devices, wherein controllable torque vectors generated by the plurality of momentum devices collectively produce a resultant torque vector that is selectively variable in magnitude and direction, to selectably rotate the frame with continuous and dynamic rotation simultaneously about each of the three rotational degrees of freedom.

A motion simulator frame, comprising:

• a plurality of rigid links;
• a plurality of vertex couplings, wherein each of the vertex couplings comprises a central body and a plurality of connectors around the periphery of the central body, wherein each of the connectors receives an end of one of the plurality of rigid links, wherein the plurality of rigid links collectively form a spherical frame, wherein the spherical frame defines an interior region;
• a plurality of transfer bearings, wherein each one of the plurality of transfer bearings is coupled to a respective central body of each of the plurality of vertex couplings;
• an internal actuator system positioned within the interior region, wherein the internal actuator system comprises a plurality of momentum devices that collectively produce a resultant torque vector that is selectively variable in magnitude and direction to cause continuous and dynamic rotation of the frame simultaneously about each of the three rotational degrees of freedom;
• and
• at least one seat positioned within the interior region and coupled to the internal actuator system.