Compensated motion base
A compensated actuator, in various embodiments, comprises a base and an electric actuator and a fluid actuator interconnected to cooperatively allow for movement of an upper deck frame to which one or more compensated actuators are connected with or without using a pivoting connector. When so connected, a predetermined set of compensated actuators are connected to the upper deck frame and a platform intermediate the upper deck frame and the platform in a predetermined pattern and linear forces from the electric actuator and fluid actuator combined to impart rotation to an output attachment point.
1. A compensated actuator, comprising:
a. a base, comprising an upper surface, a lower surface, and a longitudinal axis, the base further comprising:
i. a first attachment point disposed along the longitudinal axis at which the base may be attached to a payload bearing platform at a first platform location;
ii. a second attachment point disposed at a distance along the longitudinal axis away from the first attachment point at which the base may be attached to the payload bearing platform at a predetermined second platform location proximate an outer perimeter of the payload bearing platform;
iii. a linear actuator joint disposed at a predetermined position about the upper surface along the longitudinal axis intermediate the first attachment point and the second attachment point;
iv. a fluid actuator joint disposed about the upper surface at a predetermined position proximate the linear actuation joint; and
v. a base connector joint disposed about the upper surface opposite the linear actuator joint along the longitudinal axis;
b. an electric actuator, comprising:
i. a first connector joint; and
ii. a first base joint disposed distally from the first connector joint along the longitudinal axis and pivotally connecting the electric actuator to the base via the linear actuator joint;
c. a fluid actuator, comprising:
i. a second base joint disposed proximate the first base joint and pivotally connected to the base at the fluid actuator joint; and
ii. a second joint disposed distally from the second base joint along the longitudinal axis; and
d. a pivoting connector pivotably connected to the base at the base connector joint, the pivoting connector comprising:
i. an output attachment point;
ii. a first actuator joint pivotally connected to the electric actuator at the first connector joint; and
iii. a second connector joint pivotally connected to the fluid actuator at the second joint.
2. The compensated actuator of claim 1 , where the pivoting connector further comprises an output attachment point configured to be connected to an upper deck frame.
3. The compensated actuator of claim 1 , further comprising a fluid supply tank operatively in fluid communication with the fluid actuator.