Low and zero gravity simulator for astronaut trainin

Dane, D. H.

English

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F ROM t GP/Offke of A s s i s t a Q t  General Counsel for 
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SUBJZCT:. Annomknent of NASA-Chmed U. So Patents in STAR 
I n  accordance with the procedures agreed upon by Code GP 
and Code USX, the attached NASA-owned 27. So Patent  is being 
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!%e Eollowing ~ ~ ~ o ~ a ~ ~ ~ ~ a  is 
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I .  
U. So Patent No. t 
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Supplementary Corporate 
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NASA Patent Case No.  t 
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employee of a NASA Contractor, the following is appllcablet 
Pursuant to Section 305(a) of the M onal Aeronautics and 
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inventor (author) appears at the heading of Columsh No, 1 of 
the Specification, fobl~kiing WQSd63 e e W i t h  XeS:,WCP: t0 
an hnv-en ion of 
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Yes a NO 
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Enclosure 
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‘MECHANICAL SIMULATOR OF LOW GRAVITY CONDITIONS 
Piled Jan. 26, 1968 A Sheets-Sheet 1 
15 
INVENTOR. 
DAN H.DANE 
MECHANICAL SIMULATOR OF LOW GRAVITY CONDITIONS 
Filed Jan. 26, 1968 A Sheets-Sheet 2 
29 
55 
INVENTOR. 
D A N  H.DANE 
c - BY 
,--- J '&3yL2f&g 
ATTORNEYS 
MECHANICAL SIMULATOR OF LOW GRAVITY CONDITIONS 
Filed Jan. 26, 1968 4 Sheets-Sheet 3 
INVENTOR. 
*DAN H. DANE 
ATTORNEYS 
MECHANICAL SIMULATOR OF LOW GRAVITY CONDITIONS 
Filed Yan. 26, 1968 A Sheets-Sheet 
v) 
6, 
0 0 
IN VENTOR. 
DAN H.DANE 
A TTOR NEYS 
1 
shaft is journaled therein which has a mounting plate to 
which a harness assembly for a test subject is secured. 
Special spring means extend between the truss and the 
vertical member to counterbalance the weight of the ver- 
This will be more readily understood by the following 
detailed description when taken together with the accom- 
panying drawings. 
BRIEF DESCRIPTION OF THE DRAWINGS 
ANICAL S 
Dane, Huntsvillle, Ala., assignor La the United 
of America as represented by the Administrator 
ace A d ~ ~ ~ t ~ ~ t ~ o ~  
64g 7/00; 609b 9/00; E04h 12/34 
US. C1. 35-12 7 cplaims 
W 
6 member and its load' 
Filed Jan. 26,1968, Ser 
10 
FIG. 1 is a perspective view of the mechanical support 
apparatus of the present invention; 
FIG. 2 is a cross-sectional view of the upper truss junc- 
tureelement, taken along line2-2 of FIG. 1; 
FIG. 3 is an enlarged view of the lower truss juncture 
element; 
FIG. 4 is a cross-sectional view of the lower truss junc- 
ture element, taken along line 4-4 of FIG. 3, Parts Shown 
in whole for Clarity; 
FIG. 5 is an enlarged view of the counterbalanced 
springs; 
FIG. 6 is a cross-sectional view, taken along line 6 - 6  
of FIG. 5; 
FIG. 7 is a cross-sectional view of the rotative joint 
FIG. 8 is an enlarged view of the main beam support; 
FIG. 9 is a cross-sectional view taken along line 9-9 
A mechanical simulator for giving a test subject such 
as an astronaut six-degree freedom of movement on the 
earth. A truss supported on air bearing pads is utilized to 15 
support an elongated column having at its lower end a 
yoke and beam arrangement which supports the test sub- 
ject for pitch, yaw, and roll movements. The vertical 
movement of the elongated column is controlled by con- 
stant force springs attached to the truss. 20 
BACKGROUND O F  THE INVENTION 
ployee of the United States Government and may be man- 
ufactured and used by or for the Government for govern- 
mental purposes without the payment of any royalties 
thereon or therefor. 
The invention described herein was made by an em- 25 between the vertical support member and yoke; 
and 
of FIG. 8. 
Field of the invention 
The invention relates to an apparatus for simulation of 
low or no gravity conditions and more particularly to a 
mechanical support apparatus which allows a human to  
react to any force as he would in space. 
Description of the prior art 
30 
35 
DETAILED DESCRIPTION OF THE PRESENTLY 
PREFERRED EMBODIMENT 
Referring now to FIG. 1 wherein is illustrated the 
mechanical support apparatus 11 of the present invention 
which serves to simulate on a human 13 the effects of an 
applied force under low or no gravity. The simulator 11 
It is often desirable to have a ground-type apparatus to rests upon a Platform 15 which is supported from the 
enable an astronaut to become familiar with his tools and floor by d u m n s  17. The sismulator 11 suspends the hu- 
equipment while in a substantially weightless condition. 80 man test subject 13 within the Spa= between the floor and 
To achieve the proper response, the apparatus should pro- Platform 15 for full sk-degree movement-verticak lat- 
vide for complete freedom of movement. However, the eral translation, longitudinal translation, pitch, roll and 
most successful simulator, herebefore, lacked any vertical Yaw. 
movement. Those simulators which did provide for full A basic part of the simulator 11 is a truss framework 
six degrees of freedom were of such massive construction 45 having an upper beam 21 and a bwer beam 23 extend- 
that their response characteristics were poor. The heavy ing between and joining two end arch mmbers  25 and 
weight of these simulators increase the inertia of the sys- 27. The upper beam 21 consists of two Portions joined 
tem beyond the point of meaningful test results. together a t  the center of the truss by a square hollow 
Accordingly, it is an object of the present invention to juncture element 29. The lower beam 23 also consists of 
provide a ground base apparatus for supporting humans 50 two portions joined together at the center of the truss 19 
SO that they will have the same reaction to a force as they by a similar' hollow juncture element 31. The juncture 
would have in space. elements 29 and 31 are canted or rotated in reference to 
Another object is to provide a full six degree of free- the beams 21 and 31 SO their flat faces are a t  an angle 
dom simulator which has meaningful response character- to the longitudinal axis of the beams. 
istics. 55 An elongated square tube member 33 extends verti- 
Other and further objects, uses, and advantages of the cally through the juncture elements 29 and 31. The tube 
present invention will become apparent as the description member 33 serves as the sole support for the other por- 
proceeds. tions of the simulator 11 ,which suuuort the human test 
subject 13 and i s  adapted to move &tically in response 
60 to a vertical force on the test subject 13. 
It should be noted that the Dlatform 15 consists of 
DESCRIPTIoN OF THE INVENnoN 
The simulator of the present invention rests upon a 
platform supported on a floor. The platform has two two spaced decks 35 and 37 deining an opening there- 
spaced decks defining an opening therebetween through between. The vertical tube member 33 extends below the 
which a portion of the simulator supports the test sub- platform decks 35 and 313 through this opening. 
ject for full six degree freedom of movement. A truss 65 As shown best in FIG. 2, the upper juncture element 
extends over the opening and is supported on the two op- 29 has roller means for guiding the vertical support 
posed decks by air bearing pads. Slidably secured to the member 33 in its to and f ro  movements in response to 
center of the truss is a vertical column like member. A forces acting on the test subject 13. A roller 41 extends 
semi-circle yoke is journaled at its center to  the lower end through a slot 43 in each of the flat sides of the juno  
of the vertical member. A support beam extends between 70 ture element 29 and contacts a corresponding side or face 
and is rotatively secured to the opposed ends of the yoke. of the vertical support member 33. Each roller 48 is 
Midway between the ends of the support beam, a short journaled to an axle 45 and each axle 45 is secured to 
3,516,179 
3 
one of the corresponding sides of the juncture element truss. If desired, a pivoted arm member 87 may be 
29. joined to the edge of the platform 15 and secured at its 
The lower juncture element 31, as s h m  in FIGS. 3 other end to an air bearing pad 77 to limit the overall 
and 4, has rollers 39, similar to  the rollers 41 for the movement of the truss 11 on the decks 35 and 37. The 
upper juncture 29, for guiding the vertical support mem- air bearing pads 77 receive air from a hose (not shown) 
ber in vertical movements in a low friction manner. The which may be supported by the truss 11 in a manner that 
lower beam 23 adjacent the lower junction element, it will not interfer with its movements. 
however, has its center portion removed, and is secured A yoke 89 in the form of a semi-circle is rotatively 
to  the lower juncture element by its two outside flanges. joined to the lower end of the vertical support 33, as il- 
Two groups of pully wheels 49 and 51 are supported lustrated best in FIG. l, so as to rotate about the ver- 
within the open p o d o n  of the beam 23, one group on tical axis of the vertical support 33. The CrOSs-SeCtiOnal 
each side of the juncture element. Each group of pulley view of FIG. 7 reveals the arrangement of the bearings 
wheels 49 or 51 is journaled on a single axle 53 or 55 90 for the rotation joint between the yoke 89 and the 
which is secured to the two outer flanges of the beam 23. vertical support 33. 
As shown in FIG. 1, a plurality of “Negator” springs 15 Extending between the ends of the yoke 89 is the main 
57 are secured to  the inside curvature of the end arches support bar 9P, which is shown enlarged in FIG. 8. 
25 and 27. Each Negator spring 57, as illustrated in The main support bar 91 is somewhat channel shaped 
FIGS. 5 and 6, consists of a pair of drums 59 and 61 ro- with its two parallel ends 93 and 95 supporting pinions 
tatively supported by a frame 63 clamped to the inside 97 and 99 which extend within the conventional roller 
flange 65 of the arch. Each drum 59 or 61 has a flat 20 bearings (see FIG. 1) on the ends of the yoke 89. Thus, 
spring 67 rolled thereon which tends to  maintain itself main support bar 91 is adapted for rotation about the 
in a coiled condition and resist withdrawal from the coil axis extending between the ends of the yoke 89. 
with a force that remains substantially constant. The coil- At the center of the main suport bar 91 is the harness 
ing torque, which opposes the uncoiling pull, is devel- assembly mounting plate 101 which is secured to  a 
oped only by that section of the spring that is being 25 short tubular shaft 103 extending perpendicular to the 
straightened as it is drawn off the tight coil. rotation axis of the main support bar 93. The short shaft 
The front end of the springs 61 from each pair of 103 is journaled to the main s u p p r t  bar by the bearing 
drums 59 and 61 are fastened back-to-back by a holding assembly shown in FIG. 9. Grease fittings 105 are pro- 
clamp 69 so as to cancel out the inherent forces tending vided so that the bearings may be lubricated. The test 
to  twist the individual spring 67 as it is pulled from the 30 subject harness assembly 104 is attached to the mount- 
drum 59 or 61. The drum frame 63 supports rollers 71 ing plate 101 and is described in detail in copending 
for guiding the flat spring 67 from the drums 59 and 61. patent application for “Harness Assembly,” Ser. NO. 
Attached to the front end of each pair of springs 57 723,476, filed Apr. 23, 1968, invented by Dan H. Dane, 
is a single cable 73 which extends to its nearest pulley and assigned to the U.S. Government. 
group 59 or 51, discussed in reference to FIG. 3, and is 35 It is now apparent to  one skilled in the art that a 
guided by that pulley group to the lower end of the full six degree of freedom mechanical support apparatus 
vertical tubular member 33, as shown by FIG. 3 where 11 has been described which can be utilized to simulate 
it is attached to  a collar ‘74 on the tubular member 33. low gravity or no gravity conditions upon a human test 
The force of the springs 57 attempting to retract onto subject 13. The air bearing pads ’7’7 provide for hori- 
the drums 59 and 41 counterbalances the weight of the 40 zontal movement, the vertical tubular support 33 provides 
vertical tubular member 31 and its associated equip- for all wertical movements, the yoke bearing 9Q to  the 
ment so as to allow vertical movement of the test subject vertical support 33 provides for left and right yaw move- 
113 in response to the vertical component of any force ments, the, bearings between the yoke 89 and main sup- 
acting on him. Additional or less Negator springs 57 may port pipe 93 provide for up and down pitch movements, 
be added depending on the weight of the test subject 13. 45 and the short shaft 103 journaled to the main support 
It is well known that the substantially constant force pipe 95 provides for left or right roll movements. 
exerted by the Negator springs 57 varies slightly as the Obviously, many modifications and variations of the 
radius of the rolled spring changes, and the radius of the present invention are possible in light of the above 
succeeding layers of the rolled spring on the drum 59 teachings. It is, therefore, to be understood that within 
and 61 differs according to the thickness of the spring 50 the scope of the appended claims, the invention may be 
67. Thus, the spring 67 as it is pulled from the drum 59 practiced other than as specifically described. 
or 61 keeps exerting a slightly stronger force. This What is claimed is: 
stronger pulling force of the spring 67 is compensated 
for in the present invention by selecting the angle that 
the extended spring 57 makes with the horizontal in a 55 
manner that the weight of the extended spring 57 itself 
will have a force component substantially equal and op- 
posite to the increase force of the spring. 
The axle 53 or 55 of each group of pulleys, shown in 
FIG. 3, is located at  the center of curvature of its near- 60 
est end arch 25 or 27 (see FIG. 1)  whereby each Ne- 
gator spring 57 will unwind or retract an equal amount 
as the vertical member 33 moves in a vertical manner. 
The truss 111 as shown by FIG. 1, is supported at each 
end by a pair of air bearing pads 77 which will slide in 135 
a substantially frictionless manner over the surface of 
the decks 35 or 37. Each pad 77 is secured to the truss 
11 by a vertical sloping pipe 79 extending from an end 
arch 25 or 27 and another pipe 81 extending horizontally 
Outwardly from the lower beam 23 together with the pipe 70 
82 which extends perpendicularly from the lower beam 
23. Structural rods 83 and 85 extending from the top of 
the end arches 25 and 27 to the lower juncture element 
31 and from the top of the arches 25 and 27 to the pipe 
members above the air bearing pads serve to  rigidize the 73 
1. Aunechanical support apparatus, comprising: 
a truss having two end members extending upwardly; 
a vertical elongated member slidably connected to said 
truss for up  and down movement, said elongated 
member being located approximately midway be- 
between said two end members; 
said elongated member having a load carrying means 
adjacent its lower end; 
a pair of spring means adapted to exert a substantially 
constant force, one spring means secured to each of 
said end members; 
cable means for securing said elongated member to 
each said spring means whereby said spring means 
may counterbalance said elongated member and 
load thereon. 
2. A mechanical support apparatus as defined by claim 
said framework has an upper and a lower beam extend- 
each said end member being an inwaTdly curving arch; 
a pair of pulley means secured to said lower beam, each 
pulley means adjacent said vertical elongated member 
and on each side thereof, for guiding said cable 
1 wherein: 
ing between and secured to said end members; 
3,516,199 
means from said spring means to the lower end of 
said vertical elongated member. 
3. A mechanical support apparatus as defined by claim 
2 ,wherein each said spring means comprises a pair of 
drums mounted on a fiame, each drum having a flat 
spring rolled thereon which tends to maintain itself in a 
rolled condition so as to exert a substantially constant 
pulling force when pulled straight from the drum, said 
flat springs being adapted to be unrolled from said pair 
of drums in a back-to-back manner in accordance with 
the pull caused by said cable means. 
4. A mechanical support apparatus as defined by claim 
3 wherein each said spring means being adjustably posi- 
tioned on an end member so that the change in pulling 
force caused by the different radius of any incremental 
length of the spring while in a coiled condition may be 
cancelled by the weight of the extended portion of the 
spring. 
5. A mechanical support apparatus as defined by claim 
1 wherein said load carrying means on the tower end of 
said vertical elongated member comprises: 
a semi-circle yoke rotatively secured at its center to 
the lower end of said vertical elongated member; 
a main support member extending between and rota- 
tively secured to the ends of said semi-circle yoke; 
a test subject support means having a short shaft 
journaled to said support member approximately 
midway of its ends. 
6. A mechanical support apparatus as defined by claim 
6 
2 wherein said load carrying means on the lower end of 
said vertical elongated member comprises: 
a semi-circle yoke rotatively secured a t  its center to 
the lower end of said vertical elongated member; 
a main support member extending between and rota- 
tively secured to the ends of said semi-circle yoke; 
test subject support means having a short shaft journaled 
to said support member approximately midway of 
its ends. 
7. A mechanical support apparatus as defined by claim 
4 wherein said load carrying means on the lower end of 
said vertical elongated member comprises: 
a semi-circle yoke rotatively secured at its center to 
the lower end of said vertical elongated member; 
a main support member extending between and rota- 
tively secured to the ends of said semi-circle yoke; 
a test subject means having a short shaft journaled to 
said support member approximately midway of its 
ends. 
15 
20 References Cited 
UNITED STATES PATENTS 
3,449,843 6/1969 Richter et al. _ _ _ _ _ _ _ _ _  35-12 
25 EUGENE R. CAPOZIO, Primary Examiner 
P. V. WILLIAMS, Assistant Examiner 
US. C1. X.R. 
52-111; 248-330 


Mechanical simulator of low gravity conditions Patent

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