JPH0760291B2 - Motion simulator with multi-degree-of-freedom experience - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention provides a human body with arbitrary controllable multi-degree of freedom movements, checks human body functions such as a sense of balance, and exercises such as durability and agility training. The present invention relates to a multi-degree-of-freedom motion imparting motion simulator for medical purposes, or for entertainment in which a motion similar to that of an arbitrary vehicle can be given and an experience similar to an actual vehicle can be provided.

(Conventional technology) Conventionally, a running belt device that has been used for training such as checking the posture by walking or running and strengthening muscle strength, etc. as a training device for human body function such as sense of balance and durability / agility. is there. In addition, equilibrium sensation tests and the like using one-legged gyro base tiles have been performed without using a static device such as a balance beam or using a specific device. But,
There is no medical sensation imparting device for medical use that externally arbitrarily gives a complex motion to the human body to check the body sensitivity.

On the other hand, conventional light entertainment vehicles with characters such as animals and cars used in amusement parks, etc., have a dedicated drive consisting of a combination of a motor and various cams or link mechanisms to suit the vehicle (character). The mechanism gives a predetermined movement. Since the movements of them are simple and only certain movements can be given mechanically, it was impossible to change the movements due to the change of characters. Therefore, various complicated movements that match the character's image cannot be given, and it is not yet satisfactory as an entertainment device for giving a sensation. In recent years, a hydraulic motion simulator for entertainment that can accommodate several people has also appeared,
Due to the combination of the hydraulic linder, the device is expensive and maintenance and inspection are troublesome. The motion simulator can change the motion by changing the stroke and the operation timing of the hydraulic linder, but the range of the change is small, and the response is slow and lacks thrill. Have

(Problems to be Solved by the Invention) As described above, in the conventional sensible motion simulator for medical use or entertainment, the motion mechanism is composed of a combination of a motor or hydraulic cylinder and a simple cam or link mechanism. Therefore, even if the speed can be adjusted to some extent, the type of motion is specified by the mechanism, and it is not possible to give any motion with multiple degrees of freedom. Therefore, for example, in medical treatment or training, it is not possible to give an arbitrary motion according to the situation of a patient or a trainee to perform a motion simulator with an optimum program. Similarly, a recreational vehicle also has a drawback that it can only make a predetermined movement and cannot be operated by a passenger to give a desired movement, and the movement is simple and lacks thrill.

The present invention has been made in view of the above circumstances, and an object thereof is to provide a thrilling motion simulator that can be freely given by any complicated external motion control or control of the subject. .

Another purpose is to share the common drive mechanism and the character movement program in ROM with the change of the character of various entertainment vehicles used in amusement parks, etc. It is to provide a motion simulator capable of giving a movement according to the image of the character.

(Means for Solving Problems) The multi-degree-of-freedom motion imparting motion simulator of the present invention is
The drive unit includes a fixed cylinder, an outer eccentric rotor rotatably supported by the fixed cylinder, an inner eccentric rotor rotatably supported in an eccentric position of the outer eccentric rotor, and an axial movement to an eccentric position of the inner eccentric rotor. Alternatively, it has an output shaft rotatably drivably supported, and the fixed cylinder and the outer eccentric rotor, and the outer eccentric rotor and the inner eccentric rotor constitute an electric direct drive motor mechanism, and the output shaft is At least 3 of translational movement in the plane of dimensions, vertical movement with respect to the plane of two dimensions, and / or rotation about an axis perpendicular to the plane of plane of two dimensions.
By adopting a composite eccentric type electric direct drive positioning device which has drive controllable with a degree of freedom, it is possible to give a pedestal an arbitrary controllable complicated movement having three or more degrees of freedom, thereby achieving the above object. It has the following configuration.

That is, the composite eccentric type electric direct drive in which the pedestal is configured to be drive-controlled with at least three degrees of freedom in which the output shaft can be translated in a two-dimensional plane and vertically moved in the two-dimensional plane. The positioning device is connected to and supported by the output shaft so that the pedestal can be moved in at least three degrees of freedom.

As another means, the pedestal has at least four degrees of freedom of translational movement of the output shaft in a two-dimensional plane, vertical movement with respect to the two-dimensional plane, and rotation about an axis perpendicular to the two-dimensional plane. The eccentric type electric direct drive positioning device having a drive controllable structure is connected to and supported by the output shaft so that the pedestal can be moved in at least four degrees of freedom.

Further, as another means, one end of the pedestal is mounted on a swinging frame that is swingably mounted on the base about an axis parallel to the horizontal plane, and the output shaft is translated in the two-dimensional plane, Is supported via the output shaft of a composite eccentric type electric direct drive positioning device configured to be drive-controlled with at least three degrees of freedom vertically movable with respect to the other end of the pedestal. In order to allow the pedestal to have a movement of at least 4 degrees of freedom, the pedestal is rotatably supported by a handle frame base end portion swingably attached to the top of a swing link erected swingably on the frame. I chose

As still another means, a pair of links in the left-right front-rear direction, out of the four links pivotally attached at one end to the front-rear and left-right positions of the machine base, are set vertically to the machine base. A pair of right and left collars rotatably provided at both ends of the output shaft of the composite eccentric type electric direct drive positioning device having an output shaft supported by a free bearing at an eccentric position of an inner eccentric rotor. Each of the links is passed through and crossed, and the top of one of the pair of links, rearward or front, is pivotally attached to the pedestal, and the top of the other link is pivotally attached to the slider which slides in the lower part of the pedestal along the longitudinal direction. By wearing the pedestal, the pedestal is supported by four links, and the motion seat is rotatably supported by the pedestal, so that the motion seat can be moved in at least four degrees of freedom.

The composite eccentric type electric direct drive positioning device is not limited to the case where the inner eccentric rotor is directly supported by the outer eccentric rotor, and the case of
It also includes a case where the eccentric rotor is interposed to form a multistage structure.

(Operation) In the following description, the front-back direction of each motion simulator is the X-axis direction, the left-right direction is the Y-axis direction, and the up-down direction is the Z-axis direction.

The electric direct drive compound eccentric positioning device as the drive device adopted in the present invention, the rotation of a plurality of eccentric rotors causes the output shaft to be combined with each eccentric rotation so that the sum of the eccentric amounts becomes the radius. It can be moved to an arbitrary position within a circle on a plane and can be rotated around its axis, so that the output shaft can be arbitrarily given a movement of three degrees of freedom. Further, according to the constitutions of claims 2 and 3, the output shaft can be translationally driven in the axial direction, and X, Y,
4-axis drive of translational motion in the Z-axis direction and rotational motion around the output shaft is possible. In addition, since the translational movement of the output shaft in the two-dimensional plane and the rotation around the output shaft are directly performed by the rotation of the electric direct drive motor, a high speed and precise movement can be performed, and the rotation of the conventional motor is linearly moved. Responsiveness is particularly better than that of a link mechanism that converts into, and it is possible to give a thrilling movement. Further, since the rotation angle of the motor is directly converted to the position of the output shaft, it is possible to give an arbitrary position by controlling the rotation angle of the motor, and it is possible to arbitrarily control it by a program without changing the mechanism. .

Therefore, according to the structure of the first aspect, it is possible to give the pedestal an arbitrary compound motion of the XY biaxial translational motion and the rotation around the Z-axis. According to the structure of claim 2, XY is mounted on the pedestal.
-Z three-axis translational motion and arbitrary compound motion of rotation around the Z-axis can be provided. According to the structure of claim 3, the electric direct drive compound eccentric positioning device is used to mount the XY-shape on the pedestal.
By giving Z 3-axis translational motion, by combining with the swing of the swing frame, it is possible to give the motion seat installed on the pedestal forward and backward movement, pitching and rolling, and accelerate the motorcycle forward. It is possible to get the same simulated maneuvering feeling as in reality, such as cornering and stopping. Further, according to the configuration of claim 4, the intersecting links can be driven by the electric direct drive combined eccentric positioning device, and the motion seat on the pedestal can be rotationally driven by a single electric direct drive motor. Up and down movement, pitching and rolling can be provided.

(Example) Hereinafter, the Example of this invention is described in detail based on drawing.

FIGS. 1 and 2 show an embodiment of a motion imparting motion simulator for medical treatment or entertainment in which a pedestal is horizontally supported by an electric direct drive compound eccentric positioning device having four degrees of freedom.

In the figure, 1 is an electric direct drive compound eccentric positioning device,
Reference numeral 2 is a pedestal fixed to the output shaft 12, and a handrail 3 and a motion seat such as a seat on which a character such as a vehicle or an animal is modeled are appropriately installed so that a person can ride on the pedestal 1. Details of the electric direct drive compound eccentric positioning device 1 are shown in FIG. In FIG. 2, 5
Is a stator frame which also serves as a fixed frame, 6 is an outer eccentric rotor rotatably supported by the stator frame, and 7 is an inner eccentric rotor rotatably supported at an eccentric position of the outer eccentric rotor. Further, 8 is an output shaft translational rotor that is supported at an eccentric position of the inner eccentric rotor, 9 is screwed to the output shaft translational rotor 8 so as to be axially movable, and its lower portion does not rotate to the inner eccentric rotor 7. An output shaft fitted with a proper slide means 17 capable of only sliding, a ball screw 10 is formed on the outer peripheral portion of the upper part thereof, and a flange 11 is formed in the inside thereof which is hollow and which receives a thrust load of the output shaft. It is a translation rod. An output shaft 12 is rotatably supported by the output shaft translation rod.

The engaging portion of each rotor and the output shaft, as a brushless motor or the like to form an electric direct drive motors _131-134,
A permanent magnet 14 is arranged on the rotor side, and a stator coil 15 is arranged on the stator side. Therefore, the first electric direct drive motor 13
_{1 for the} outer eccentric rotor 6, the second electric direct drive motor 13 _{2 for the} inner eccentric rotor 7, the third electric direct drive motor 13 _{3 for the} output shaft translation rotor 8 and the electric direct drive motor 13 of FIG. _The output shafts 12 are independently driven to rotate by 4.

With the above configuration, the output shaft 12 is combined with the eccentric rotation by the rotation of the outer eccentric rotor 6 and the inner eccentric rotor 7, and any position within a circle on a two-dimensional surface whose radius is the sum of the respective eccentric amounts. Can be moved to. When the output shaft translation rotor 8 rotates, the output shaft translation rod 9, which is fitted between the output shaft translation rotor 8 and the inner eccentric rotor 7 via the anti-rotation slide means, translates in the axial direction by the ball screw mechanism, and the output shaft 12 can be moved to any position in the axial direction. Further, the output shaft 12 can be any angular rotation around the axis by the electric direct drive motors 13 ₄ of FIG. 4. Therefore, the output shaft 12 of the four-axis composite eccentric positioning device 1 can give a translational movement in a three-dimensional plane and a four-degree-of-freedom movement about its axis by each electric direct drive motor. Can be positioned arbitrarily.

Therefore, as shown in FIG. 1, when the pedestal is fixed to the output shaft of the electric direct drive combined eccentric positioning device 1, the pedestal can be moved in four axes. In particular, in this device, it is relatively slow because it is given by the ball screw mechanism up and down, but the two-dimensional surface movement and rotational movement are given by the electric direct drive motor, so the response is quick and sudden stop and movement are also possible. Is. Further, the rotation, the movement of the two-dimensional plane, and the vertical movement can be performed at the same time, and a complex movement can be given by combining these. Moreover, since all the driving is a combination of direct drive motors, an arbitrary motion can be obtained by changing the motor control program only by changing the motor control program. Therefore, when applying this device for medical purposes, if a person on a pedestal is equipped with a measuring device, etc. and given an arbitrary complicated motion according to the condition, the reaction to the complicated motion can be sequentially measured from the outside. , Effective for diagnosing human function.

3 and 4 show another embodiment of the present invention. In this embodiment, a sensation of recreational motorcycle simulated operation having four degrees of freedom using a 3-axis electric direct drive compound eccentric positioning device vertically. It constitutes the imparted motion simulator.

The electric direct drive compound eccentric positioning device 20 is vertically supported by a swing frame 22 rotatably supported by a machine base 21, and a pedestal 25 is connected to an output shaft 23 having a ball screw mechanism. The pedestal 25 is a motion seat 35 via a seat mount 36.
The vertical frames 26 ₁ and 26 _{2 on} both sides.
Is connected by a ball screw, which is the output shaft 23 of the electric direct drive compound eccentric positioning device 20, and the front is slidably fitted to the joint part 29 of the handle frame 28.
It is composed by connecting with 27. The handle frame 28 is
A handle 32 having a grip 37 with a center for screen control is connected to a swing link 30 that is erected in a swingable manner in the front-back direction of the swing frame 22 so that a joint portion 29 is swingable.
It is rotatably supported via a handle sensor 31 that detects the rotation angle.

In the figure, 38 ₁ and 38 ₂ are rolling spring adjusters 40 ₁ and 40 ₂ that are provided on the machine base so as to be adjustable, and rolling springs provided between the rocking frame, and 38 ₃ is the machine base 21. A vertical balance compression spring that is provided between the pedestal 25 and a fixed position to help maintain a fixed position and a high load when no power is supplied. Further, 39 _1, 39 ₂ rolling stopper, 41 is a control box.

As shown in FIG. 3, the above device is appropriately covered to form a cockpit 42, and a wide-angle display 43 of a visual simulation device is arranged on the front surface.

Next, the operation of the motorcycle simulation control device configured as described above will be described.

First, get in the cockpit 42 and press the key to bring up the screen. At the same time, the positioning device 20 works and the pedestal 25
The output shaft 23 supporting the motor moves forward at a constant speed and enters a start standby state. When the grip 37 is operated and started, the positioning device is controlled so that the output shaft 23 rapidly moves obliquely rearward, causing rearward and downward acceleration in the seat 35,
You will get the feeling of starting when all the wheels are lifted.

After that, the output shaft 23 is returned to the center at a constant speed so that it can cope with a straight running state. Then, for acceleration / deceleration, the output shaft 23 is moved back and forth horizontally, and longitudinal acceleration corresponding to the horizontal acceleration is generated to obtain a feeling of acceleration / deceleration. In addition, when the handle 32 is moved along the curve on the screen, the handle sensor 31 operates, the output shaft moves in the axial direction by the ball screw mechanism, the body slides laterally, and at the same time, the shaking that supports the positioning device by its own weight. When the moving frame 22 tilts and the body leans and reaches a certain angle, the rocking frame 22 moves the rolling stopper 39.
At the same time, cornering is performed while maintaining the inclined state. Then, if the handle is returned along the screen, the output shaft 23 moves to the extent of overshifting, the body gets up, and straight running is started.

Next, when the stop device is operated, the output shaft 23 rapidly moves in the front upper direction, and acceleration in the front upper direction is generated, so that the body has a feeling that it feels forward.

In this embodiment, since the electric direct drive combined eccentric positioning device is used vertically, cornering and rolling are performed by a ball screw mechanism, which is performed in a relatively slow state, but forward and backward movement and pitching are performed by electric direct drive. Since it is performed by the translational motion of the eccentric rotor of the compound eccentric positioning device, abrupt movement is possible within the range of the sum of the eccentric amounts of the eccentric rotor.

The above is an example of a simulated operation of a motorcycle, but you can change the seat etc. installed on the pedestal to another character such as an airplane or animal, and control the positioning device with a program that matches the motion of those characters. For example, various motion simulations can be performed. For example, when performing a motion simulation of an airplane, pitching and rolling are mainly performed, and in the case of an animal elephant, forward and backward movement and rolling are performed, and in the case of a lion, a program is preliminarily stored so as to move forward and backward and stored in ROM. I'll do it.

FIG. 5 and FIG. 6 show another embodiment, which corresponds to the case where the positioning device in the above embodiment is changed from the vertical state to the horizontal state, and the other configurations are the same as the above examples, The same symbols as those in FIGS. 3 and 4 are attached. By horizontally arranging the electric direct drive compound eccentric positioning device 45 as in the embodiment, the range of vertical movement of the seat is widened contrary to the case of the embodiment, and slow and large motion pitching becomes possible. With
It enables rapid rolling and cornering.

7 and 8 show still another embodiment of the present invention. In this embodiment, the pedestal is moved by driving the link mechanism with an electric direct drive combined eccentric positioning device.

In the figure, reference numeral 55 denotes a pedestal, which is supported by _four links 56 _{1 to} 564 which are arranged on both sides of the pedestal and which cross one by one in the front-rear direction. The lower ends of these links are pivotally attached to the machine base 54 and are inclined so as to intersect in the front-rear direction, and the upper ends of one of the links 56 ₁ and 56 ₄ are pivotally attached to a position closer to the rear of the pedestal 55. is, the other link 56 _2, 56 ₃ the upper end is pivotally attached to the slider 58 _1, 58 ₂ to slide along the slide shaft 57 _1, 57 ₂ extending in the longitudinal direction toward the front on the lower surface of the pedestal.
The intermediate intersection is provided with a collar 62 ₁ having linear bushings provided at both ends of output shafts 61 ₁ and 61 ₂ of two-axis electric direct drive compound eccentric positioning devices 60 ₁ and 60 ₂ described later through universal joints. to 62 ₄ are crossed by penetrating.

The electric direct drive compound eccentric positioning device 60 is composed of a combination of a stator frame 59 and an eccentric rotor as in the above-mentioned embodiment, but the output shafts 61 ₁ and 61 ₂ of the present embodiment are the second eccentric rotor. The bearings are supported by 63 ₁ and 63 ₂ via ball-shaped universal bearings 65 ₁ and 65 ₂ , but are not rotationally driven about the axis. Therefore, the output shaft 61 _1, 61 ₂ with the translation drive the X-Z plane by an electric direct drive composite eccentric positioning device 60, so that it can take any angle to the X-Z plane .

Cockpit as a motion seat placed on the pedestal
64 is supported by a rotor 68 of a single electric direct drive motor 67 having a stator 66 fixed to a pedestal 55, and can rotate 360 degrees in the XY plane. Inside the cockpit 64, a visual field simulator 69 and an acoustic device are installed as in the above-mentioned embodiment, and in accordance with an arbitrary program, the motion simulation of an aircraft or other vehicle can be performed by interlocking with the motion of the cockpit.

In the above-mentioned embodiment configured as described above, by the electric direct drive compound eccentric positioning device on both sides, the output shaft can be vertically moved by vertically driving, and the output shaft has an angle with the vertical direction. Pitching can be done by driving it vertically. Further, rolling can be performed by driving the left and right electric direct drive compound eccentric positioning devices so that the height positions of the output shafts are slightly different. In addition, a single electric direct drive motor allows spinning. The stroke of each of the above movements is mechanically such that the vertical movement is within the range of the sum of the eccentricity of the eccentric rotor of the electric direct drive combined eccentric positioning device, and the pitching is the eccentric amount of the eccentric rotor of the electric direct drive combined eccentric positioning device. And the length of the link,
Practical use is possible within ± 20 °. In addition, the rolling is about ± 10 °, which is the amount of play between the link and the mounting part of the pedestal.

Although various types of embodiments of the motion simulator of the present invention have been described above, the present invention is not limited to the above embodiments, and various design changes can be made within the scope of the claims. Needless to say. Further, the motion simulator of the present invention is not limited to medical and entertainment purposes,
It goes without saying that it can be applied to a motion simulator for driving training.

(Effect) The present invention is configured as described above, and has the following remarkable effects.

As a drive device that gives motion to the pedestal that supports the motion seat, an electric direct drive compound eccentric positioning device is adopted, so basically it is possible to give motion with multiple degrees of freedom only by rotary drive, and quick movement is possible. It is possible, and highly precise and complex motion can be given. Therefore, compared with a conventional link mechanism that converts the rotation of a motor into a linear motion, the response is particularly good, and a motion full of thrill can be provided. Further, since the rotation angle of the motor is directly converted to the position of the output shaft, it is possible to give an arbitrary position by controlling the rotation angle of the motor, and it is possible to arbitrarily control it by a program without changing the mechanism. .

In addition, as the characters of various types of recreational vehicles used in amusement parks are changed, the common drive mechanism and character movement programs are stored in ROM and can be computer-controlled, making it easy to create character images. You can give movement along.

Further, according to the configuration of claim 3, by combining with the swing frame, the motion seat arranged on the pedestal can be moved in the front-rear direction, and pitching and rolling can be provided, and forward movement, acceleration, cornering of a motorcycle and the like, It is possible to obtain the same simulated maneuvering feeling as when the vehicle actually stops.

Further, according to the constitution of claim 4, it is possible to support a large cockpit, and to give the cockpit up and down movements and complicated movements of pitching and rolling at high speed, which is full of thrill. It is possible to obtain recreational vehicles such as amusement parks.

[Brief description of drawings]

The drawings show an embodiment of a multi-degree-of-freedom motion simulator according to the present invention. FIG. 1 is a perspective view of the first embodiment, FIG. 2 is a front sectional view of its mechanical portion, and FIG. 3 is a second embodiment. Of FIG. 4, FIG. 4 is a perspective view of the mechanism portion, FIG. 5 is a side cross-sectional view of the third embodiment, FIG. 6 is a perspective view of the mechanism portion, and FIG. 7 is a side view of the fourth embodiment. FIG. 8 is a rear view thereof. 1,20,45,60: Electric direct drive compound eccentric positioning device, 2,25,
55: Pedestal, 12, 23, 61: Output shaft, 13: Electric direct drive motor, 2
0,54: Machine stand, 22: Swing frame, 28: Handle frame, 3
0,56: Link, 31: Handle sensor, 32: Handle, 35: Seat, 42: Cockpit, 43: Display

Front page continuation (72) Inventor Seizo Suzuki 3-8-4 Shinkawa, Mitaka City, Tokyo (72) Inventor Naoaki Kuwano 7-43-3 Jindaiji Higashi-cho, Chofu City, Tokyo (72) Inventor Yoshinori Sakai Gifu 1 Kawasaki-cho, Kakamigahara-shi, Kagawa Prefecture Gifu Factory, Kawasaki Heavy Industries, Ltd. (72) Inventor Nobuharu Niwa 1 Kawasaki-cho, Kakamigahara-shi, Gifu Prefecture Gifu Factory, Kawasaki Heavy Industries, Ltd. (72) Masao Uekusa 20 Ishigane, Toyama, Toyama Prefecture Address: Fujikoshi Co., Ltd. (72) Inventor, Koji Inaba, 20 Ishigane, Toyama City, Toyama Prefecture (56) Reference: JP-A-3-25488 (JP, A) JP-A-63-188676 (JP, SHO) A) Jitsuko Sho 61-32711 (JP, Y2) Patent 40041 (Taisho 10) (JP, C1)

Claims (4)

[Claims] 1. A fixed cylinder, an outer eccentric rotor rotatably supported by the fixed cylinder, and an inner eccentric rotor rotatably supported at an eccentric position of the outer eccentric rotor.
An output shaft is supported at an eccentric position of the inner eccentric rotor so as to be movable in the axial direction, and an electric direct drive motor mechanism is formed between the fixed cylinder and the outer eccentric rotor, and between the outer eccentric rotor and the inner eccentric rotor. Drive control of the output shaft having at least three degrees of freedom: translational movement in the two-dimensional plane, vertical movement with respect to the two-dimensional plane, and / or rotation about an axis perpendicular to the two-dimensional plane. A multi-degree-of-freedom motion imparting motion, characterized in that it is supported by being connected to the output shaft of a possible composite eccentric type electric direct drive positioning device so as to give movement to the pedestal in at least three degrees of freedom. Simulator. 2. A fixed cylinder, an outer eccentric rotor rotatably supported by the fixed cylinder, and an inner eccentric rotor rotatably supported at an eccentric position of the outer eccentric rotor.
An electric direct drive motor mechanism having an output shaft supported at an eccentric position of the inner eccentric rotor so as to be axially movable and rotatably driven, and between the fixed cylinder and the outer eccentric rotor and between the outer eccentric rotor and the inner eccentric rotor. And the output shaft has at least four degrees of freedom of translational movement in the two-dimensional plane, vertical movement with respect to the two-dimensional plane, and rotation about an axis perpendicular to the two-dimensional plane. A multi-degree-of-freedom sensation provided by supporting a pedestal on the output shaft of a composite eccentric type electric direct drive positioning device capable of drive control, and giving the pedestal a motion of at least 4 degrees of freedom. Motion simulator. 3. A fixed cylinder, an outer eccentric rotor rotatably supported by the fixed cylinder, on a swing frame installed at one end of a pedestal on a machine base so as to be swingable about an axis parallel to a horizontal plane. An inner eccentric rotor rotatably supported at an eccentric position of the outer eccentric rotor; and an output shaft axially movably supported at the eccentric position of the inner eccentric rotor, between the fixed cylinder and the outer eccentric rotor, and An electric direct drive motor mechanism is formed between the outer eccentric rotor and the inner eccentric rotor, and the output shaft translates in the two-dimensional plane, moves vertically to the two-dimensional plane, and / or in the two-dimensional plane. A composite eccentric type electric direct drive positioning device that is drive-controllable with at least three degrees of rotation about a vertical axis is supported via the output shaft, and the other end of the pedestal is supported by the swing frame. It was erected so that it could swing A multi-degree-of-freedom experience, characterized in that it is rotatably supported by a base end of a handle frame that is swingably attached to the top of a dynamic link, and that the pedestal can be moved in at least four degrees of freedom. Granted motion simulator. 4. A pair of left and right front and rear links, out of four links pivotally attached to the front and rear and right and left positions of the machine base, so as to be vertically mounted on the machine base. A pair of a fixed cylinder, an outer eccentric rotor rotatably supported by the fixed cylinder, an inner eccentric rotor rotatably supported at an eccentric position of the outer eccentric rotor, and a free bearing at an eccentric position of the inner eccentric rotor. An output shaft supported by the output shaft, and the fixed cylinder and the outer eccentric rotor, and the outer eccentric rotor and the inner eccentric rotor constitute an electric direct drive motor mechanism, and the output shaft has at least three degrees of freedom. A compound eccentric type electric direct drive positioning device having a drive controllable therein has respective collars rotatably provided at both ends of the output shaft so as to pass through and cross each other. Pair of links Part is pivotally attached to the pedestal, and the top of the other link is pivotally attached to a slider that slides in the lower part of the pedestal along the front-rear direction, so that the pedestal can be supported by four links and can be rotationally driven by the pedestal. A multi-degree-of-freedom sensation-added motion simulator, characterized in that the motion seat is supported by a motion seat, and the motion seat can be moved in at least four degrees of freedom.