基于PAM和MRD的新型六维宽频隔振系统及其特性

提出了一种刚度阻尼解耦，且可调并能大幅降低支撑频率的基于PAM（气动肌肉）和MRD（磁流变阻尼器）的六维宽频隔振系统，推导了由弹性、阻尼作用空间到支撑平台笛卡尔六维空间的雅可比矩阵，获得了系统的惯性、刚度及阻尼矩阵，在此基础上，建立了系统振动方程，分析了系统的解耦特性、支撑频率的可降特性以及宽频隔振原理，讨论了弹性阻尼元件的参数计算方法。该成果可为车载/舰载/机载精密设备的六维宽频隔振提供理论参考。

Structure and Characteristics of Novel Six DOF Broadband Isolator Based on PAM and MRD

A six DOF (degree of freedom) broadband isolator based on PAM (pneumatic artificial muscles) and MRD (magneto rheological dampers) was proposed, its stiffness and damping were decoupled and adjustable, and its support frequency could be substantially decreased. The Jacobian matrices from the driving spaces of the elastic and damping to the Cartesian six DOF space of the support platform were obtained. The inertial matrix, stiffness matrix and damping matrix were got. On this basis, the vibration equation was set up. The decoupled and degradable frequency characteristics and the broadband isolation principle of the system were analyzed. The parameters calculation method of the elastic and damping elements were discussed. The research results can provide theory references for six DOF broadband isolation of the vehicle borne, ship borne and air borne precision devices.