US 12,268,973 B2
Motion generator
Ashley William Hawker Warne, Bristol (GB)
Assigned to DYNISMA LTD., Bristol (GB)
Appl. No. 17/756,848
Filed by DYNISMA LTD., Bristol (GB)
PCT Filed Jan. 6, 2021, PCT No. PCT/EP2021/025000
§ 371(c)(1), (2) Date Jun. 3, 2022,
PCT Pub. No. WO2021/140058, PCT Pub. Date Jul. 15, 2021.
Claims priority of application No. 2000251 (GB), filed on Jan. 8, 2020.
Prior Publication US 2023/0001313 A1, Jan. 5, 2023
Int. Cl. A63G 31/02 (2006.01); A63G 31/16 (2006.01); G09B 9/12 (2006.01)
CPC A63G 31/02 (2013.01) [A63G 31/16 (2013.01); G09B 9/12 (2013.01)] 22 Claims
OG exemplary drawing
 
1. A motion generator comprising an end effector which moves relative to a surface, the end effector being moved by at least six actuation mechanisms, in which each actuation mechanism comprises an elongate tensioned member connected at one of its ends to the end effector, whereby the end effector is suspended above the surface by the tensioned members, and at the other of its ends to an associated rocker of the same actuation mechanism, whereby the rocker is mounted to be pivotable about an axis which is fixed relative to the surface, and in which, when a rocker is actuated, the associated tensioned member and the end effector are moved, wherein either (i) at least one of the at least six actuation mechanisms comprises a tensioned belt connected to the rocker at a point along its length, or (ii) at least one or the at least six actuation mechanisms comprises an elongate tensioned belt that is connected at both of its ends to the rocker and actuated by a capstan, or pulley, or actuated by a motor.