Abstract:
The motion simulator of the present invention comprises: a base frame; a support member arranged above the base frame so as to support a monitor and a handle; a first link part, the top of which is connected to a rear end of the support member such that the top of the first link part can rotate in roll and pitch, and the bottom of which is connected to a rear end of the base frame such that the bottom of the first link part can be rotated in pitch, the first link unit transmitting the power from first driving units so as to move the rear end of the support member in the upward and downward directions; a second link part and a third link part, the tops of which are connected to the left and right ends of the support member, respectively, such that the tops of the second and third link parts can be rotated in roll and pitch, and the bottoms of which are connected to left and right sides of the base frame, respectively, such that the bottoms of the second and third link parts can be rotated in roll and pitch, the second and third link parts transmitting the power from second driving units and third driving units so as to move the left and right sides of the support member in the upward and downward directions; and a fourth link part, the two ends of which are linked to the first link unit and to the base frame, respectively, such that the two ends of the fourth link part can be rotated in pitch, the fourth link part transmitting power from fourth driving units so as to rotate the first link part in pitch.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
       [0001]    This is a continuation of International Application No. PCT/KR2013/003087 filed on Apr. 12, 2013, which claims priority to Korean Application No. 10-2012-0037723 filed on Apr. 12, 2012. The applications are incorporated herein by reference. 
     
    
     TECHNICAL FIELD 
       [0002]    The present invention relates to a motion simulator, and more particularly, to a motion simulator capable of five degrees of freedom (DOE) motion through a simple structure thereof. 
       BACKGROUND ART 
       [0003]    In general, motion simulators are devices that reproduce dynamic changes to match the motion of users with virtual environments controlled by computers so that the users may feel like they are moving in the virtual environment. Motion simulators may realize flight or driving simulations. Motion simulators are now being widely used as simulators for games or theaters so that the users may experience three dimensional movements. 
         [0004]    As a simulator according to the related art, a motion base for a virtual reality motion simulator is disclosed in Korean Patent Registration No. 10-0932231. As illustrated in  FIG. 1 , the simulator includes a support frame  110 , an operation frame  120 , a central pivot joint  130 , a horizontal actuator  140 , and first and second vertical actuators  150  and  160  to rotate in three degrees of freedom with respect to the central pivot joint  130 . 
         [0005]    The above-described simulator according to the related art has a structure in which the first or second vertical actuator  150  or  160  is driven to vertically move rods  154  and  164 , thereby rotating the operation frame  120 , and the horizontal actuator  140  is driven to horizontally move a rod  144 , thereby rotating the operation frame  120 , and thus the simulator realizes a rotation in three degrees of freedom (DOF). 
         [0006]    However, according to the above-described structure, since a low degree of freedom is realized, it may be difficult for a user to experience a virtual environment as reality. Also, since the horizontal actuator  140  is installed to cross the base in a horizontal direction, when an additional actuator for realizing a higher degree of freedom is installed, the structure may become complicated. 
       SUMMARY 
       [0007]    The present invention is provided to solve the above-described problems. An object of the present invention is to provide a motion simulator capable of at most five degrees of freedom (DOF) motion through a more simple structure thereof. 
         [0008]    A motion simulator according to the present invention to achieve the above object includes: a base frame ( 10 ); support members ( 30 ,  40 ) disposed above the base frame ( 10 ) to support a chair ( 1 ) on which a user sits down, a monitor ( 2 ) providing a virtual environment with an image according to manipulation by the user, and a handle ( 3 ) manipulated by the user to provide the virtual environment; a first link part ( 50 ) having an upper end rollably and pitchably connected to a rear end of the support member and a lower end pitchably connected to a rear end of the base frame ( 10 ), the first link part ( 50 ) transmitting a power of a first driving unit to move the rear end of the support member upward and downward; second and third link parts ( 60 ,  70 ) each of which has an upper end rollably and pitchably connected to both left and right ends of the support member and a lower end rollably and pitchably connected to left and right ends of the base frame ( 10 ), the second and third link parts ( 60 ,  70 ) transmitting powers of the second and third driving units to move both left and right sides of the support member upward and downward; and a fourth link part ( 80 ) having both ends pitchably connected to the first link part ( 50 ) and the base frame ( 10 ), the fourth link part ( 80 ) transmitting a power of the fourth driving unit to pitch the first link part ( 50 ). 
         [0009]    In this case, the first to fourth driving units may be disposed in the base frame. 
         [0010]    The first link part ( 50 ) may include: a first link member ( 51 ) having a lower end pitchably connected to the base frame ( 10 ); and a first rod ( 52 ) sliding in the first link member ( 51 ) by the first driving unit, the first rod ( 52 ) having an upper end rollably and pitchably connected to the support member, wherein the second and third link parts ( 60 ,  70 ) may include: second and third link members ( 61 ,  71 ) each of which has a lower end rollably and pitchably connected to the base frame ( 10 ); and second and third rods ( 62 ,  72 ) respectively sliding in the second and third link members ( 61 ,  71 ) by the second and third driving units, the second and third rods ( 62 ,  72 ) being rollably and pitchably connected to the support member, wherein the fourth link part ( 80 ) may include: a fourth link member ( 81 ) having one end pitchably connected to the base frame ( 10 ); and a fourth rod ( 82 ) sliding in the fourth link member ( 81 ) by the fourth driving unit, the fourth rod ( 82 ) being pitchably connected to the first link member ( 51 ). 
         [0011]    The support member may include: a first support member ( 30 ) to which the chair ( 1 ) is coupled to a rear side thereof, and the monitor  2  is coupled to a front side thereof; and a second support member ( 40 ) coupled to the handle ( 3 ), the second support member being integrally coupled to the first support member ( 30 ), wherein the first link part ( 50 ) is rollably and pitchably connected to a rear end of the first support member ( 30 ), and the second and third link parts ( 60 ,  70 ) are rollably and pitchably connected to both left and right ends of the second support member ( 40 ), respectively. 
         [0012]    The motion simulator may further include a fifth link part ( 90 ) having an upper end pitchably connected to a front end of the support members ( 30 ,  40 ) and a lower end pitchably connected to the base frame ( 10 ). 
         [0013]    The fifth link part ( 90 ) may include: a fifth link member ( 91 ) having a predetermined length; a fifth rod ( 92 ) inserted into the fifth link member ( 91 ) to vertically slide; a fifth upper connection member ( 93 ) having one end pitchably connected to an upper end of the fifth rod ( 92 ) and the other end fixedly coupled to the front end of the support member ( 30 ); and a fifth lower connection member ( 94 ) having one end connected to the fifth link member ( 91 ) to pitch the fifth link member ( 91 ) and the other end fixedly coupled to the base frame ( 10 ), wherein the fifth rod ( 92 ) vertically moves by the motion of the support members ( 30 ,  40 ) due to driving forces of the first to fourth driving units. 
         [0014]    The first link part ( 50 ) may include: a first link member ( 51 ) having a lower end pitchably connected to the base frame ( 10 ); a first rod ( 52 ) sliding in the first link member ( 51 ) by the first driving unit; and a first upper connection member ( 53 ) having one end rollably connected to a rear end of the support member and the other end pitchably connected to the first rod ( 52 ), wherein the fifth link part ( 90 ) may include: a fifth link member ( 91 ) having a predetermined length; a fifth rod ( 92 ) inserted into the fifth link member ( 91 ) to vertically slide; a fifth upper connection member ( 93 ) having one end pitchably connected to an upper end of the fifth rod ( 92 ) and the other end fixedly coupled to a front end of the support member ( 30 ); and a fifth lower connection member ( 94 ) having one end connected to the fifth link member ( 91 ) to pitch the fifth link member ( 91 ) and the other end fixedly coupled to the base frame ( 10 ), wherein the first upper connection member ( 53 ) and the fifth upper connection member ( 93 ) may be coaxially disposed. 
         [0015]    Each of the first link member ( 51 ) and the fifth link member ( 91 ) may have a lower portion having a width greater than that of an upper portion thereof. 
         [0016]    The motion simulator may further include a rotation support plate ( 20 ) supporting a lower portion of the base frame ( 10 ) and guiding rotation of the base frame ( 10 ) when the base frame ( 10 ) rotates by a rotation driving force of a rotation driving unit. 
         [0017]    According to the present invention, since the motion simulator moves in at most five degrees of freedom (DOF), the user may experience a more realistic virtual environment. 
         [0018]    Also, the motion simulator may move in five DOF and prevent the large torque and torsion from being applied to the link part supporting the support member, thereby improving the durability. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0019]      FIG. 1  is a perspective view of a motion simulator according to a related art. 
           [0020]      FIG. 2  is a view for explaining a degree of freedom. 
           [0021]      FIG. 3  is a perspective view of a motion simulator according to a first embodiment of the present invention. 
           [0022]      FIG. 4  is a side view of the motion simulator according to the first embodiment of the present invention. 
           [0023]      FIGS. 5 and 6  are views illustrating a state where the motion simulator ascends according to the first embodiment of the present invention. 
           [0024]      FIG. 7  is a view illustrating a state where the motion simulator is moved and tilted forward according to the first embodiment of the present invention. 
           [0025]      FIG. 8  is a view illustrating a state where the motion simulator is moved and tilted forward and ascends according to the first embodiment of the present invention. 
           [0026]      FIG. 9  is a view illustrating a state where the motion simulator is moved and tilted backward according to the first embodiment of the present invention. 
           [0027]      FIG. 10  is a view illustrating a state where the motion simulator is moved and tilted backward and ascends according to the first embodiment of the present invention. 
           [0028]      FIG. 11  is a view illustrating a state where the motion simulator is tilted to allow a right side thereof to ascend in a state where the motion simulator moves backward according to the first embodiment of the present invention. 
           [0029]      FIG. 12  is a view illustrating a state where the motion simulator is tilted to allow the right side to ascend in a state where the motion simulator moves forward according to the first embodiment of the present invention. 
           [0030]      FIGS. 13 and 14  are perspective views of a motion simulator according to a second embodiment of the present invention. 
           [0031]      FIG. 15  is a side view of the motion simulator according to the second embodiment of the present invention. 
           [0032]      FIG. 16  is a view illustrating a state where the motion simulator is moved and tilted forward according to the second embodiment of the present invention. 
           [0033]      FIG. 17  is a view illustrating a state where the motion simulator is moved and tilted backward according to the second embodiment of the present invention. 
           [0034]      FIG. 18  is a view illustrating a state where the motion simulator is tilted to a right side thereof to ascend according to the second embodiment of the present invention. 
       
    
    
     DETAILED DESCRIPTION 
       [0035]      FIG. 2  is a view for explaining a degree of freedom,  FIG. 3  is a perspective view of a motion simulator according to a first embodiment of the present invention, and  FIG. 4  is a side view of the motion simulator according to the first embodiment of the present invention. 
         [0036]    First, moving and rotating directions and degree of freedom will be described with reference to  FIG. 2 . In a space, there are six motions of an object, which include a forward/backward motion (Z-axis) in which the object moves forward and backward, a left/right motion (X-axis) in which the object moves in a left/right direction, an up/down motion (Y-axis) in which the object vertically moves, rolling in which the object rotates with respect to the Z-axis, pitching in which the object rotates with respect to the X-axis, and yawing in which the object rotates with respect to the Y-axis. The six motions are called six degrees of freedom (DOF). 
         [0037]    Hereinafter, as defined in  FIG. 2 , an axis connecting the right side to the left side refers to an X-axis, an axis connecting the upside to the downside refers to an Y-axis, and an axis connecting the front side to the rear side refers to a Z-axis, and then moving and rotating directions with respect to the X, Y, and Z axes will be described. 
         [0038]    A motion simulator of the present invention includes a base frame  10 , a rotation support plate  20  supporting a lower portion of the base frame  10 , support members  30  and  40  for supporting a chair  1  on which a user sits down, a monitor  2  providing a virtual environment with an image according to manipulation by the user, and a handle  3  manipulated by the user so as to provide the virtual environment, and first to fourth link parts  50 ,  60 ,  70 , and  80  connecting between the base frame  10  and the support members  30  and  40 . 
         [0039]    The base frame  10  supporting an entire structure of the motion simulator of the present invention may have an approximately hexahedral shape and a plurality of driving units providing a power to the first to fourth link parts  50  to  80  therein. A motor, a cylinder, and a linear actuator may be used as the plurality of driving units. 
         [0040]    The rotation support plate  20  may be disposed between the ground and the base frame  10  to support the base frame  10 . Also, a rotation guide  21  may protrude upward from a top surface of the rotation support plate  20  by predetermined width and height, and thus the base frame  10  may rotate by a rotation force transmitted from a rotation driving unit (not shown) while being guided by the rotation guide  21 . 
         [0041]    A plurality of wheels  11  may be disposed on a lower surface of the base frame  10  so that the base frame  10  rotates while being guided by the rotation guide  21 . The rotation guide may have a circular band shape along a circumference of an edge of the top surface of the rotation support  20 . 
         [0042]    The motion simulator according to the present invention may be provided to realize virtual reality through which the user experiences vehicle traveling. Then, the motion simulator may include the chair  1  on which the user sits down, the monitor  2  providing the virtual environment with the image according to the manipulation by the user, the handle  3  by which the user manipulates a driving direction, and a pedal  4  by which velocity of a vehicle is adjusted. Here, the above-described components may be substituted with other components according to the usage of the motion simulator. 
         [0043]    Vehicle moving direction data according to the manipulation of the handle  3  and vehicle velocity data according to the manipulation of the pedal  4  may be inputted into a controller (not shown). On the basis of the inputted data, the virtual environment in which the user feels like that he/she is actually driving the vehicle may be provided on the monitor  2  with the image by coupling a preset virtual environment data to the inputted vehicle moving direction and velocity data. 
         [0044]    The support members  30  and  40  may be constituted by a first support member  30  on which the monitor  2  and the chair  1  are respectively coupled to front and rear sides thereof and a second support member  40  to which the handle  3  is coupled. The first and second support members  30  and  40  are integrally coupled to each other. 
         [0045]    Here, the term ‘front side’ refers to a direction where the user looks when the user sits down on the chair  1 , and the term ‘rear side’ refers to a direction opposite to that where the user looks. Hereinafter, the terms ‘front, back, left, and right directions’ are defined on the basis of the above-described directions. 
         [0046]    The first support member  30  is constituted by a chair support  31  and a monitor support  32 . The chair support  31  may have an approximately ‘L’ shape section and include a horizontal part  31   a  having a top surface to which the chair  1  is fixedly coupled and connection parts  31   b  tiltedly extending upward from a rear end of the horizontal part  31   a . The monitor support  32  includes a monitor coupling part  32   a  to which the monitor  2  is vertically fixed and coupled and a connection part  32   b  tilted downward from a lower end of the monitor coupling part  32   a  and then connected to a front end of the horizontal part  31   a.    
         [0047]    The second support member  40  is provided to fixedly support the handle  3 . The second support member  40  may be constituted by a handle fixing part  41  that is horizontally provided so that the handle  3  is fixedly coupled to the handle fixing part  41  and connection parts  42  tilted downward from both ends of the handle fixing part  41  so that the horizontal part  31   a  of the chair support  31  is connected to the connection parts  42 . 
         [0048]    Since the chair  1 , the monitor  2 , the handle  3 , and the first and second support members  30  and  40  are integrally coupled to each other to integrally move when a driving force is transmitted thereto by the driving unit. 
         [0049]    The support members  30  and  40  may be connected to the base frame  10  by the four link parts  50 ,  60 ,  70 , and  80 . 
         [0050]    The first link part  50  has an upper end connected to a rear side of the first support member  30  so as to roll and pitch the rear side of the first support member  30 , and a lower end connected to a rear side of the base frame  10  so as to pitch the rear side of the base frame  10 . The first link part  50  includes a first link member  51  having a predetermined length, a first rod  52  inserted into the first link member  51  to vertically and linearly slide by driving of the first driving unit (not shown), a rolling and pitching-rotatable first upper connection member  53  disposed on an upper end of the first rod  52  and connected to the rear side of the first support member  30 , and a pitching-rotatable first lower connection member  54  connecting a lower end of the first link member  51  to the rear side of the base frame  10 . 
         [0051]    The first lower connection member  54  may have one side fixedly coupled to the base frame  10  and the other side connected to the lower end of the first link member  51  by using a rotation shaft (not shown), which is the center of rotation, as a medium in a front/rear direction so that rolling rotation is prevented but pitching rotation is allowed so as to prevent the user from falling down in a left/right direction in a state where the user sits down on the chair when the simulator operates. 
         [0052]    The first driving unit may be a motor or a cylinder and may be disposed in the base frame  10  or in the first link member  51 . Also, when a linear actuator using a motor is used as the driving unit, the driving unit may not be disposed in the base frame  10 , but may be directly coupled to the first link member  51  and disposed outside the base frame  10 . 
         [0053]    The second link part  60  may have a rolling and pitching-rotatable upper end connected to a right end of the second support member  40  and a rolling and pitching-rotatable lower end connected to a right end of the base frame  10 . The third link part  70  may have a rolling and pitching-rotatable upper end connected to a left end of the second support member  40  and a rolling and pitching-rotatable lower end connected to the right end of the base frame  10 . 
         [0054]    The second link part  60  includes a second link member  61  having a predetermined length, a second rod  62  inserted into the second link member  61  to vertically and linearly slide by driving of a second driving unit (not shown), a rolling and pitching-rotatable second upper connection member  63  disposed on an upper end of the second rod  62  and connected to the right end of the second support member  40 , and a rolling and pitching-rotatable second lower connection member  64  connecting a lower end of the second link member  61  to the right end of the base frame  10 . 
         [0055]    The second lower connection member  64  may have pitching-rotatable one side connected to the base frame  10  by using the rotation shaft (not shown) as a medium and have rolling-rotatable the other side connected to the lower end of the second link member  61  by using the rotation shaft (not shown) as a medium. Thus, the second lower connection member  64  may roll and pitch. 
         [0056]    The third link part  70  has the same constitutions as that of the second link part  60 . The third link part  70  includes a third link member  71  having a predetermined length, a third rod  72  inserted into the third link member  71  to vertically and linearly slide by driving of a third driving unit (not shown), a rolling and pitching-rotatable third upper connection member  73  disposed on an upper end of the third rod  72  and connected to the left end of the second support member  40 , and a rolling and pitching-rotatable third lower connection member  74  connecting a lower end of the third link member  71  to a left end of the base frame  10 . 
         [0057]    The third lower connection member  74  may have pitching-rotatable one side connected to the base frame  10  by using the rotation shaft (not shown) as a medium and rolling-rotatable the other side connected to the lower end of the third link member  71  by using the rotation shaft (not shown) as a medium. Thus, the third lower connection member  74  may roll and pitch. 
         [0058]    The second link part  60  and the third link part  70  may be different from the first link part  50  in that the second and third parts  60  and  70  are rollably and pitchably connected to the base frame  10 . Also, the second link part  60  and the third link part  70  may be the same as the first link part  50  in that the linear actuator may be used by directly coupling the linear actuator to the second and third link members  61  and  71 . 
         [0059]    The fourth link part  80  may apply a driving force so that the first link part  50  may pitch by using a link connection part of the lower end thereof as a center of rotation. Also, the fourth link part  80  has pitching-rotatable one end connected to a body of the first link member  51  and pitching-rotatable the other end connected to the top surface of the base frame  10  so that rolling rotation is prevented so as to prevent the user from falling down in the left/right direction in a state where the user sits down on the chair when the simulator operates. 
         [0060]    The fourth link part  80  includes a fourth link member  81  having a predetermined length, a fourth rod  82  inserted into the fourth link member  81  to vertically and linearly slide by driving of a fourth driving unit (not shown), a pitching-rotatable fourth upper connection member  83  disposed on an upper end of the fourth rod  82  and connected to a body of the first link member  51 , and a fourth lower connection member  84  connecting a lower end of the fourth link member  81  to a top surface of the base frame  10  so that the fourth link member  81  may pitch. The fourth lower connection member  84  may be connected to the fourth link member  81  by using a rotation shaft  85  as a medium to pitch. 
         [0061]    The fourth link part  80  may be the same as the first link part  50  in that a motor or a cylinder may be used as the fourth driving unit, and a linear actuator may be directly coupled to the fourth link member  81 . 
         [0062]    The rotation driving unit may be disposed between the base frame  10  and the rotation support plate  20  to rotate the base frame  10  in a state where a bottom surface of the rotation driving unit is fixedly supported by the rotation support plate  20 . In this case, since the bottom surface of the rotation driving unit is fixedly supported by the rotation support plate  20 , the rotation driving unit may not rotate and the base frame  10  and all of the support members  30  and  40  to which the chair  10  and the monitor  2  are coupled may yaw by the driving force of the rotation driving unit. When the base frame  10  rotates, the base frame  10  may rotate while the wheels  11  attached to a bottom surface of the base frame  10  are guided by the rotation guide  21  formed on the top surface of the rotation support plate  20 . 
         [0063]    Hereinafter, motion of the motion simulator according to the first embodiment of the present invention will be described with reference to  FIGS. 5 to 12 . 
         [0064]      FIGS. 5 and 6  are views illustrating a state where the motion simulator ascends according to the first embodiment of the present invention. 
         [0065]    As illustrated in  FIGS. 5 and 6 , the first, second, and third driving units are driven to slide the first, second, and third rods  52 ,  62 , and  72  upward, and thus the first, second and third rods  52 ,  62 , and  72  are in an ascending state. 
         [0066]    Like this, in the process in which the first, second, and third rods  52 ,  62 , and  72  are slid upward, the second upper and lower connection members  63  and  64  and the third upper and lower connection members  70  and  74 , which are the upper and lower ends of the second and third link parts  60  and  70 , may rotate so that the second and third link members  61  and  71  are spaced a predetermined angle apart from each other in the left/right direction. 
         [0067]      FIG. 7  is a view illustrating a state where the motion simulator is moved and tilted forward according to the first embodiment of the present invention. 
         [0068]    As illustrated in  FIG. 7 , when the first driving unit is driven to slide the first rod  52  upward, and the fourth driving unit is driven to slide the fourth rod  82  forward, the user may be in a forward tilted and moved state. 
         [0069]    In this case, a forward tilted angle may be adjusted by elevating the second and third rods  62  and  72  by using the second and third driving units of the second and third link parts  60  and  70 . 
         [0070]      FIG. 8  is a view illustrating a state where the motion simulator is moved and tilted forward and ascends according to the first embodiment of the present invention. 
         [0071]    As illustrated in  FIG. 8 , when the first, second, and third driving units of the first, second, and third link parts  50 ,  60 , and  70  are driven to slide the first, second, and third rods  52 ,  62 , and  72  upward, and the fourth driving unit of the fourth link part  80  is driven to slide the fourth rod  82  forward, the user may ascend upward and be in a forward tilted and moved state. 
         [0072]    In this case, when a moving distance of the first rod  52  and moving distances of the second and third rods  62  and  72  are adjusted, a forward tilted angle may be adjusted. Also, when a moving distance of the fourth rod  82  is adjusted, a distance in which the user moves forward may be adjusted. 
         [0073]      FIG. 9  is a view illustrating a state where the motion simulator is moved and tilted backward according to the first embodiment of the present invention. 
         [0074]    As illustrated in  FIG. 9 , when the fourth driving unit of the fourth link part  80  is driven to slide the fourth rod  82  backward and upward, the user may be in a backward moving state. In this case, when the second and third driving units of the second and third link parts  50  and  60  to slide the second and third rods  52  and  53  upward, a backward tilted angle may be adjusted. 
         [0075]      FIG. 10  is a view illustrating a state where the motion simulator is moved and tilted backward and ascends according to the first embodiment of the present invention. 
         [0076]    As illustrated in  FIG. 10 , when the first, second, and third driving units of the first, second, and third link parts  50 ,  60 , and  70  are driven to slide the first, second, and third rods  52 ,  62 , and  72  upward, and the fourth driving unit of the fourth link part  80  is driven to slide the fourth rod  82  backward, the user may ascend upward and be in a backward tilted and moved state. 
         [0077]    In this case, when a moving distance of the first rod  52  and moving distances of the second and third rods  62  and  72  are adjusted, a backward tilted angle may be adjusted. Also, when a moving distance of the fourth rod  82  is adjusted, a distance in which the user moves backward may be adjusted. 
         [0078]      FIG. 11  is a view illustrating a state where the motion simulator is tilted to allow a right side thereof to ascend in a state where the motion simulator moves backward according to the first embodiment of the present invention, and  FIG. 12  is a view illustrating a state where the motion simulator is tilted to allow the right side to ascend in a state where the motion simulator moves forward according to the first embodiment of the present invention. 
         [0079]    As illustrated in  FIGS. 11 and 12 , when the fourth driving unit of the fourth link part  80  is driven to slide the fourth rod  82  backward or forward, and the second driving unit of the second link part  60  is driven to slide the second rod  62  upward, a right side of the user may ascends, and thus the user may be tilted. 
         [0080]    Meanwhile, in order to integrally rotate the base frame  10  and the support members  30  and  40  to which the chair  1  and the monitor  2  are coupled, the rotation support plate  20  and the rotation driving unit may be provided. Here, when the rotation driving unit is driven, the rotation force may be transmitted to the base frame  10  to roll the wheels  11 , and thus the base frame  10  may rotate while being guided by the rotation guide  21 . 
         [0081]    According to the present invention, the motion simulator may realize five degrees of freedom (five DOF) motion through linear motion in a forward/backward/upper/lower direction, rolling, pitching, and yawing. Thus, the user may experience a more realistic virtual environment. 
       Second Embodiment 
       [0082]      FIGS. 13 and 14  are perspective views of a motion simulator according to a second embodiment of the present invention, and  FIG. 15  is a side view of the motion simulator according to the second embodiment of the present invention. 
         [0083]    In the case of first embodiment, when the motion simulator rolls in a state where the user sits down on the chair, a force may be applied in the left/right direction to apply large torque to the first link part  50 . Thus, the motion simulator may be reduced in durability. Thus, in the second embodiment, a motion simulator includes a fifth link part  50  to overcome the limitation. 
         [0084]    In the second embodiment of the present invention, a motion simulator includes support members  30  and  40  to which a chair  1 , a monitor  2 , and a handle  3  are fixedly coupled and first, second, third, fourth, and fifth link parts  50 ,  60 ,  70 ,  80 , and  90  which linearly and rotatably support the first and second support members  30  and  40 . 
         [0085]    The first link part  50  has a rolling and pitching-rotatable upper end connected to a rear side of the first support member  30  and a pitching-rotatable lower end connected to a rear side of the base frame  10 . The first link part  50  includes a first link member  51  having a predetermined length, a first rod  52  inserted into the first link member  51  to vertically and linearly slide by driving of the first driving unit (not shown), a rolling and pitching-rotatable first upper connection member  53  disposed on an upper end of the first rod  52  and connected to a rear end of the first support member  30 , and a first lower connection member  54  pitchably connecting a lower end of the first link member  51  to a rear end of the base frame  10 . 
         [0086]    In this case, when a force is applied to the simulator in a left/right direction while the simulator is operating, torque may be applied to the first link member  51 . Thus, the first link member  51  may have a lower portion having a width greater than that of an upper portion thereof. 
         [0087]    A motor  55  may be disposed within a body of the first link member  51  as a first driving unit. Since an axis of the motor  55  is connected to the first rod  52 , when the motor  55  is driven, the first rod  52  may move up and down. 
         [0088]    The second link part  60  includes a second link member  61  having a predetermined length, a second rod  62  inserted into the second link member  61  to vertically and linearly slide by driving of a second driving unit (not shown), a rolling and pitching-rotatable second upper connection member  63  disposed on an upper end of the second rod  62  and connected to a right end of the second support member  40 , and a second lower connection member  64  rollably and pitchably connecting a lower end of the second link member  61  to a right end of the base frame  10 . 
         [0089]    The second lower connection member  64  may have one side connected to a rotation shaft  12  so that the second link member  61  pitches with respect to the base frame  10  and the other side connected to the lower end of the second link member  61  by using another rotation shaft (not shown) as a medium so that the second link member  61  may roll. Thus, the second link member  61  may roll and pitch. 
         [0090]    The rotation shaft  12  may be disposed above the base frame  10  by a support plate  13 . 
         [0091]    The third link part  70  has the same constitutions as those of the second link part  60 . The third link part  70  includes a third link member  71  having a predetermined length, a third rod  72  inserted into the third link member  71  to vertically and linearly slide by driving of a third driving unit (not shown), a rolling and pitching-rotatable third upper connection member  73  disposed on an upper end of the third rod  72  and connected to a left end of the second support member  40 , and a third lower connection member  74  rollably and pitchably connecting a lower end of the third link member  71  to a left end of the base frame  10 . 
         [0092]    Like the second lower connection member  64 , the third lower connection member  74  may be disposed between the third link member  71  and the base frame  10  so that the third link member  71  may roll and pitch with respect to the base frame  10 . The third lower connection member  74  is connected to the rotation shaft  12  so that the third link member  71  may pitch. 
         [0093]    The fourth link part  80  includes a fourth link member  81  having a predetermined length, a fourth rod  82  inserted into the fourth link member  81  to linearly slide in a vertically tilted direction by driving of a fourth driving unit (not shown), a pitching-rotatable fourth upper connection member  83  disposed on an upper end of the fourth rod  82  and connected to a body of the first link member  51 , and a fourth lower connection member  84  connecting a lower end of the fourth link member  81  to a top surface of the base frame  10  so that the fourth link member  81  may pitch. 
         [0094]    The fifth link part  90  includes a fifth link member  91  having a predetermined length, a fifth rod  92  inserted in to the fifth link member  91  to vertically slide, a fifth upper connection member  93  having one end pitchably connected to an upper end of the fifth rod  92  and the other end fixedly coupled to a front end of the first support member  30 , and a fifth lower connection member  94  having one end pitchably connected to the fifth link member  91  and the other end fixedly coupled to the base frame  10 . 
         [0095]    In this case, when a force is applied to the simulator in a left/right direction while the simulator is operating, torque may be applied to the fifth link member  91 . Thus, the fifth link member  91  may have a lower portion having a width greater than that of an upper portion thereof. 
         [0096]    Although the first to fourth rods  51  to  81  are linearly moved by the first to fourth driving units, the fifth rod  92  may slide according to the motion in the up/down direction or the rotations of the support members  30  and  40  due to the driving force of the first to fourth driving units without providing a self-driving source. When the simulator rolls in a state where the user sits down on the chair, the force in the left/right direction may be applied to the simulator to apply large torque to the first link part  50 . Thus, the simulator may be reduced in durability. However, the fifth link part  90  is provided to receive the torque together with the first link part  50 , and thus the simulator may be improved in durability. 
         [0097]    Meanwhile, the first upper connection member  53  disposed on the first link part  50  and the fifth upper connection member  93  disposed on the fifth link part  90  may be coaxially disposed. If the first upper connection member  53  and the fifth upper connection member  93  are disposed on axes different from each other, the first link member  51  and the fifth link member  91  may be twisted while the simulator is operating. Thus, in the current embodiment, the first upper connection member  53  and the fifth upper connection member  93  may be coaxially disposed to prevent the first and fifth link members  51  and  91  from being twisted. 
         [0098]    A motor  22  on which a gear  22   a  is disposed on an end of a motor shaft may be fixedly coupled to the base frame  10  as a fifth driving unit. A gear connection plate  23  having a disc shape may be fixedly coupled to a central portion of a top surface of the rotation support plate  20  that is fixed to the ground, and a rotation shaft  24  may be fixedly coupled to an upper portion of the gear connection plate  23 . A teeth shape may be formed on an outer circumferential surface of the gear connection plate  23  and engaged with the gear  22   a  of the motor  22 . 
         [0099]    When the motor  22  is driven, the gear  22   a  rotates, and the base frame  10  rotates with respect to the rotation shaft  24  because the gear  22   a  is engaged with the outer circumferential surface of the gear connection plate  23 . Thus, all of the link parts and support members coupled to the upper portion of the base frame  10  may yaw. 
         [0100]    In this case, the base frame  10  may rotate while the wheels  11  coupled to a lower portion of the base frame  10  are guided by the rotation guide  21  of the rotation support plate  20 . 
         [0101]    Hereinafter, motion of a motion simulator according to the second embodiment of the present invention will be described with reference to  FIG. 15 . 
         [0102]      FIG. 16  is a view illustrating a state where the motion simulator is moved and tilted forward according to the second embodiment of the present invention. 
         [0103]    As illustrated in  FIG. 16 , the fourth rod  82  may slide forward by driving of the fourth driving unit, and the first, second, and third link parts  50 ,  60 , and  70  are in a pitching-rotating state in a counterclockwise direction. Thus, the fifth link part  90  may be in a pitching-rotating state, and the support members  30  and  40  may be in a forward moving state. 
         [0104]    Here, when the first, second, and third driving units are driven to adjust positions of the first, second, and third rods  52 ,  62 , and  72 , vertical positions and tilted angles of the support members  30  and  40  may be adjusted. 
         [0105]      FIG. 17  is a view illustrating a state where the motion simulator is moved and tilted backward according to the second embodiment of the present invention. 
         [0106]    As illustrated in  FIG. 17 , the fourth rod  82  may slide backward by driving of the fourth driving unit, and unlike the above-described state illustrated in  FIG. 16 , the first, second, and third link parts  50 ,  60 , and  70  may be in a pitching-rotating state in a clockwise direction. Thus, the fifth link part  90  may be in a pitching-rotating state, and the support members  30  and  40  may be in a backward moving state. 
         [0107]    In this case, when the first, second, and third driving units are driven to adjust positions of the first, second, and third rods  52 ,  62 , and  72 , vertical positions and tilted angles of the support members  30  and  40  may be adjusted. 
         [0108]      FIG. 18  is a view illustrating a state where the motion simulator is tilted to a right side thereof to ascend according to the second embodiment of the present invention. 
         [0109]    When the second driving unit is driven to slide the second rod  62  upward, and the third driving unit is driven to slide the third rod  72  downward, right sides of the support members  30  and  40  may be tilted by ascending. Thus, the support members  30  and  40  may roll. In this case, the first upper connection member  53  may be hinge-coupled to the fifth upper connection member  93  so that the support members  30  and  40  roll. Also, the first upper connection member  53  and the fifth upper connection member  93  may be coaxially disposed to prevent the first link member  51  and the fifth link member  91  from being twisted. 
         [0110]    Although a preferred embodiment of the present invention has been disclosed, various changes and modifications may be made thereto by one skilled in the art without departing from the scope and spirit of the invention as set forth in the appended claims. It is also understood that the terms used herein are merely descriptive, rather than limiting, and that various changes may be made without departing from the scope and spirit of the invention.