Multi-degree of freedom magnetorheological devices and system for using same

Claim 1

A magnetorheological device for installation between two structures which have the capacity for relative movement which includes up to six degrees of freedom, said device comprising: a) a first generally cylindrical metallic element having a first longitudinal axis and a first pair of orthogonal lateral axes, said first cylindrical element including means to secure said first cylindrical element to a first one of said two structures and; a magnetic core element which has a first radially extending reaction surface positioned inwardly from said first generally cylindrical metallic element; b) a second generally cylindrical metallic element having a longitudinal axis aligned with said first longitudinal axis and a pair of orthogonal lateral axes coincident, said second with said first or generally element including means to secure said second generally cylindrical, element to a second one of said two structures and; a plate-shaped magnetic member having a second radially extending reaction surface opposing said first radially extending reaction surface; c) an elastomeric member secured to each of said first and second generally cylindrical elements and permitting relative movement between said first and second generally cylindrical elements, said first and second generally cylindrical elements primary relative movement being translational movement along said longitudinal axes, said first and second generally cylindrical elements having secondary relative movement in at least one additional direction including translational movement along at least one of said two orthogonal axes and rotational movement about any one of three axes including said longitudinal axis and said two orthogonal lateral axes; d) a fluid chamber at least partially defined by each of said first and second generally cylindrical elements and by said elastomeric member; e) a volume of magnetorheological fluid contained within said fluid chamber; f) a magnetic element for altering a property of said magnetorheological fluid so as to increase a resistance force to, and thereby damp, movement of said first generally cylindrical metallic element relative to said second generally cylindrical metallic element permitted by said elastomeric member; whereby said relative movement between said two structures can be effectively damped, damping being most effective for said primary movement with a lesser degree of damping for said secondary movement.