分析了磁流变阻尼器的力学特性，将其应用于多维减振系统中。采用经典的三平移并联机构作为多维减振平台的主体机构，推导出其位置逆解公式；建立了系统动力学状态方程模型，以运动学方程得到的支路加速度作为输入信号，控制器采用了基于线性二次型最优控制理论的半主动控制算法。考虑到动态过程中机构动力学方程的复杂性，采用稳态方法对并联机构处于某一运动姿态的支路移动副振动进行控制，从而控制了整个平台的振动。仿真结果表明，所采取的控制算法有较好的控制效果。

MR damper is analyzed on its mechanical characteristic, and is applied in multi-dimension damping in this paper.  A kind of three-translation parallel mechanism is used as main mechanism of multi-dim damping,  whose position and dynamics formula are deduced.  The input signal of controller is from the result of equation of kinematics,  and LQR is used as the semi-active control arithmetic.  Considering complexity of the dynamics equation in dynamic process,  a way is used in control progress when the mechanism is in a steady state through which the entire flat roof is limited adjacent to an equilibrium position.  The result of emulation confirms that the controller is effective.

朱伟（1976－），男，江苏泰兴市人，江苏大学博士研究生，研究方向：并联机器人，振动控制