Received 13 July 1964. Revised 1 February 1966 12.3i, 12.

Generalized Matrix Method for the Design and Analysis of

Vibration-Isolation Systems

LEONARD E. SMOLLEN

l\Jatrix ec,luations of rigid-Im}' mol.!)n for a gCllcml íso~\lion systcm are pr~t(!(j ll,nd condítions for de-
cQupling translational and rotatinnaI nmtions are disclli\5r.d. The cffedive rot;}.tioool and traoslatioMI
slilTncs5eS af a seI 01 lsnlators llrhitrarily orlcrlh:J witlt r~ct to thecentcr 01 nWlS af ao lsoJa.h .•d rigid oody
are devcloped by matrix tcdmiqucs. Xnílmlhce cocllidenls for dctennining loadinfl.lj on the isoJator's elastic
axes !)wing to arbitrM}' g loads at the aystc.m centc.r af mas!>ara a!&) prescntcd in mattix farm. The appliro.·
tion of the matri:< techniques [lresented to lhe clesign uf vibrotian i50latiQ(l Sj'StclUS i$ iIlustrated thrQugh <1,11
cxarnrle.

INTRODUCTION inerLÍa matrices reveals immediately the type oí motion

coupling th.tt (an exist and the conditions that tnust be
EXPRESSIONS for the el1ective stiffness !"tneI satisfied to decouple some ar alI of the motions. Finally,
damping characteristics af él. general isolation
system and thl~ associated equa.tions af rigid-body mo--
the matrix equa tions oí motian are in a fonu particu-
tiao have been derive<! by lIimelblau and Rubin1 and Iarly suited for digital-cornputer soIution hy available
matri x pcograms.
others,t.3 using conventional analytintl tedmiques.
This paper shows how matrix techniques can be used to
develop the effective stitIIlt ..'&i anel damping characteris- 1. MATRIX EQUATIONS OF MOTION
tit..-saf the system and manipulate lhe cquations af 010-
tion .. Induded also is a derivatiol1, by matrix methods, Figure 1 shows li rigid body supported in a general
of influencc coeffidents that relate loads along lhe elas- way by isolators consisting af spring alld dampillg ele-
tie aXf:Saf the individual supporting isolators. to loads ments (aIso, sce rig. 2). The X, Y, Z Cartesian-
applied at the system's center af mass. f.oordilln.te system is assumcd to be lln inertial reference
The use of matrix algebra for treating the general framethat passes through the center af mass when lhe
elastic isolators has seveml advantages. First, rnatrices . body is at resto The X~ Y 1 Z a~es, with origin at the cell-
provide a compact, systema tie teclmique for developing ter of mass, are fixed in the moving body and are 00-
the stiffness and damping chamcleristics of the system inddent with X, r,
Z when the body is at resto For small
and for manipulating the simultaneous equ:ltiolls of vibrationat mOLÍons~rotatiol1s and moments about the
general motion. The stiffness and damping properties body axesX, Y,.2 cao be considered to be, respectively,
of the entire system can be determined (ram the readi1y equal to rotations and momenls about lhe inertial axes
defined individual i501aOO1'properties by almost auto- X, Y, Z. (Pasitive rotations and moments follaw the
matk matrix-algebra operations. Ser:.lJud, once the equa- right-hand role witl1 respect to positÍve axes direc-
tions af motion are cast in m_ltrlx form, an inspeçtion of tions.)
the aff-diagonal elements af the stilIness, damping, and The motion af the body c.an be defined by the transh1.~
tinnal di5placements of the center ai mass x, 'Y, z from
t H. Himelhla.Ll, Jr., anel S. Rubio, "Vibmtiflll or a Rcsiliently the origin of the Ínert.ial axÍs s)'stem X, Yt Z and by the
Supp<}rted Rigid 13ody," ín Slwt;{~ fVI:lt Vióm(jrl/f. llatl(ióf)l)k, ç.
Crede and C. Harris, Eds. p.[eGraw HiII BlJok Co., Inc., rotatiolls fJ, q" ;md 'cp, of the body about those aXe5.
~ew York, 1961), Vo!. I, Chap. 3, pp. 10-15. Neglecting second-order dfects, the equations of motion
2 }.N. :\lacdull, "I:solation of Vlhration io Spring Mountcd for small vibrations of a generally isolated body sub-
Apparalus," Product ElIg~11, 154-156 (Aug:. 19~6).
3 E. S. Taylor and V. A. Brown, "Vibration Isolation af Aircraft jectcd to faundatian displacements u, v, w in the direc-
Power Plants," J. "\eron. Sei. 6, :'{o. 2, 43-19 (1938). tioos X, Y, Z, and foundation rotations, aJ r;, 'Y about

The Joumol of the Acoustíc:al Society óf Amél'iC(í 195

 L. E. SMOLLEN

Z,Z

x,x

FIG. 1. General isolatof 5upport of rigid body

(damping elements not shown).

FOUNOATlON
INPUTS
W

those axes can be expressed in complete matrix form asI

r +eu
-j;-u
lu
O01
-m
ml
01
O z-w
Cell
-jjIXZO:j;-O-Ix.
-lu.
iJ-v
OO
C'rI>
c",,,,
c4n/I
ee.
tllll
C:r;1J
(li'"
e,u
Gil'
C"',
eq,1I
OC"'li
C:r;'"
cq" e,:r;
G 1"0
e.a
Cea
C",e
Glle
cq,e
u:r; C"'q,
c,'"
Gllq,I••
ij-lu,
-ly!lyo
t:r;q,
C"':r; e",q,
. Ce:r;
Cq,:r; COq, -I -1- - I- - - - - -- I
I- -..p--y
;fi --1'0
rb-{3
C:r;. C:r;O
-- c:u

c" 1"-&

k:r;:r; k:r;u I
kr.z k:r;8 k:r;q, k:r;",
x-u
kll:r; kllll I
kll: kuo kllq, kll", y-v
ku k'lI ku I k.o k.q, k.", z-w
+ 1- --------1------ --- =0, (1)
kO:r; kell ka. 1 k09 kO</J ke", (J-a
kq,:r; kq,lI kq,. I k",e kM k"'>/I cp-{:J
k./f:r; k",u k",. I k",e k",,,, k",,,, 1/;-"{

where m is mass and li) the moments and products af inertia with respect to body-fixed axesX,Y,Z; kiiis the spring
i
force or moment in the direction, due to alI isolator elements, per unit rotation or displacement in j
the direction;
i
Cii is the damping force or moment in the direction, due to ali isolator elements, per unit rotational ar translatianal
velocity in the j direction; the symbol { } represents a column or vector matrix and the symbol [ ] an iXj matrix.
lt is shown later that kij= kji and Cij= (ii.
Equation (1) can also be written in the shorter partitioned matrix form,

(2)

or in the shorthand form, matrices or partitioned submatrices are to be identi:fied

with the corresponding matrix elements af Eq. 1. The
[MJ{X}+[C]{X-U}+[K]{X-U} =0, (3)
stiffness and damping matrices ([KJ and [C]) of the
which represents a whole set of ordinary algebraic equa- system must be determined from the properties, laca-
tions. The symbols in Eqs. 2 and 3 representing whale tion, and arientation of the supporting isolator units.

196 Volume 40 Number 1 1966

 ANALYSrS OF VIBRATION ISOLATION SYSTEMS

Matrix methods for doing this, together with general

matrix equations that relate the system stiffness ar
damping praperties to individual isolator properties,
are pr('~')entedJater.
The elements af the partitioned spring and damping
matrices af Eq. 2 have particular physical significance.
[Ku] and [C.,.:] are the pure translational spnl1g and
damping c.haracteristks, i.e., the translatiomd forçes !50LAfM MOU"'fIN<;\
developed by pura tmnslational rnotions 01' velocities. PQIIH

[CBeJ and [KB"] are the pure rotational spring and FIG. 2. Idea.Hzed i50latm: {damplng del\\ent~ para.lIel to s~}rioglõ
damping characteristics, and [K".,], [Cs,.], etc., lhe not sho\\'n).
spring a.nd damping terms resulting fooro the coupling
of rotations and translations. The subsequeut dcvelop~
ment of the spnng and damping matrices from the vectOr in QOfJ arthogonal axis system to those in a
set't;md, rotated, orthogonal, sy~tern with the same
individual lsoL'\.torproperties is most conveniently done
by think.ing in tenns of these partitioned matrix origin as the first. Extensive LI.'5e is made af such matrices
eJements. in subsequent analyses and a review of thcir properties
follows.
For free undamped vibratian, Eq. 3 reduces to
Jf the column ar vector matrix af th.e components af li
[Af](X)+[K](X} =0. (4) VectQf in H.coordillate s)'steffi P, RI S is (1'». tlud the
colum n rnatrix af the samc vedor iu a coordinatç system
And, the sh:-system natural frequencies may be found X, YJ Z with the same odgin as p. R, S is (X), lbe two
from the determinant af the matos: column matrices are related by the matrix equations
(5) (X} ~[AJ(P),
(7)
where {P} ~ [A]-l{X}.
The trans.formation matri:t [A] is a:. 3X3 matrix tb.at re~
(6) L'tt<:.'S the three axes direçtions X, Y, Z to the three

rotated-axes directions P, R. S. The orthogonal trans-

formations most used lU dynamic analyses are based ao
Coupling between vibrational motions oçcurs Quly direction cosines or Euler angles. For the general de·
fram tenns with mixed subscript5 in the mass, stiffness, velopment of stiffness and damping rnatrices1 it is often
and damping matrkes af Eq. 1. Sueh terros oçcur oEi the convenient to use the directian cosine transformation
principal diaganal af the ma.trix. The cause af the cou- matrix
pling, mass, stiffness; ar damping, is defined by the
matrix in which the nondiagonal terms appear, and the (8)
[A J= allP Oy., alia,
motions coupled are de:fi.noo. by the subscripts of the a.p au
[a%1I (l,ZT <tz*
ara]
terms. A qualitative evaluation aí the extent aí coupling
where f1zp is: the direction cosine bet.ween the positive X
can be made by comparing the magnitude af the c.ou-
aod P axis direction5, etc.
pling terros with the TIlagnítude aí the principal diagonal
A particuJarly useful property aí any orthogol1al
terms. To obtain completely decoupled motioo requires
transforrnatíon matrix [A] i5 that its transpose [A]',
that alI terros c;'iJ kõj, and 1;;, where irf j, be zero. Ob-
obtained by interchanging the rows and columos af
'\iously, decoupling aí rotational motions can occur only
with respect to the principal body axes. A eommon de-
[A], is equal to its inverse4 [Ajl.
SymbolicaUy,
coupling requirement for isolation systems for precise [A]'=[AJ-l. (9)
optical equipment is that rotations and translations be
decoupled. This can be accomplished if the partitioned Being able to fam] the inverse of [A] from its transpose
matrkes [C<r8], [CIhI], [K:t:lIJ, [KhJ (Eq. 2) are zero. considembly simplifies many rnanipula.tions, as it obvi-
1t is evident that for highly coupled systems. solutions ates the often tedious detemlination of [Ajl.
to Eqs. 3 ar 5 should not be a.ttempted withaut the use af
m. STIFFNESS AND DAMPING MATRICES
a high-speed digital compu ter. The form af the matríx
solutions of Eq. 3 for the {',2.se of sinusoidal foundation Each isolatar suppartíng the rigid body shQwn in
motions is presented ín St".c. V. Fig. 1 is as..<;umed to be arbitrarily placed with respect to
the center af mass and to have its orthogonal elastic
U. ORTHOGONAL TRANSFORMATIONS
axis arbitra.rily oriented with respect to the inertial
TransCormation roatrkes provide a. convenient 4 H. Goldstein, Classical A,[edlO,ntes (Addison-Wesley PubL
method of rdating or transforming lhe components aí a Co,. Ine., Readin~, l\lass., 1959), pp. 101-106.

lhe Joumal o, the AI;O\.I$fh;a( Socie:tyof Âmarica 197

 L. IL SMOLLEN

írolato!'. In shortha.nd nOÍc'\tion, th~ tJquatinns are

(Fp}..=-[f{ra,,{ph, (12)
Fio. J. RelatiQl1 of (Qf'},,=~[KxJ,,{A} ••. (1.3)
elastic a;,;e;; (.li aingle
nth iSOlatQf to çeoter Analogous equations could be wrltten for the da.mping
01 mMS.
ÇPHER characteristic'l af an isolator 01' other damping elemento
Of
MAS5 To determine ane isolator'g contributioll to lhe s'y'i;~
tem's stiffness matrix, cOl1síder Fig. 3, which shows a.
single nth ÍsolatQf attachoo to a dgid body u.t a raditt..s
vector R" {rom the çenter of m~~$S.The elastic aXes,
P 'l, Rtl, Sn of the isolator are arbítrnrily odentro with re~
specl to axes X"' :Vli, l", which have a, cmnmo!) origin
with th~ el<\stÍc axes and are, resp.?,ctively, pa.~\llel to
X, Y, Z (see Fig. 3). COl1lponents Qf displacement5,
forces, mornents, and small rotat.ions in 'Y!l' 111,1,Z" and
Pn, Rn, S ••coordil1í\tes ttre related through a tranSfOftlH\c.
tion malrix [AJ", by
(X)n= [.4J,,(Ph, (H)
{I" ••}••g [A] .•{Fp}~, (15)
{Q,;}u=[A] ••{Qp}", (16)
x, Y, Z a;'(es. To detennine the stiffness and damping
matrices o·f the entire h'lolatiol1 systcrn. the eontdlmtion. [8]"=[A]"fA},,, (17)
of a sing1c isolator to lhe partitiQned $ubmatrices
(1':(].2) is determined and thcn summed over the number where {f<'",}", (Q.c}IJ, (X}IJ' {6harecolumnmatrkesof
of isolators to obtain the s)'stem stiffness a.nd damping force, displucement, moment, and roLttiou components
matL'iccs. Because lhe development of the stiffnes.s and at Lhe nth isolator in X!I.' Y", Zn clJQrdina.tes~ {F ph,
damping snhmatrices of the isolation system foUows {Q ••}", {P}", {A}•• are eoIurno matrices of the 5ame
idcntical tines, all subs.equent discussions are rcstricted vectors in P'" R", S" coordinates. Since lhe X, Y, Z
to the stiilness matrix. Dampíng matdces mn be ob- and X n, Y 11, Z,~ axes are, respectively, parallel, the ele-
tained from any of Ule stiffness matrices by appropriate ments af [A J.. can be defmed by the direction cosines
between X, Y, Z and p", R", Sn.
substitutions of damping constants for spring constants.
A single isolator is idealized as three orthogonal elas- 1n lhe subsections, that foUow, the 5ubrnatrices
tie axes. P, R, S, along which there are translational [K",J", [KlTsJ ..•., [K",d],. and [KhJn due to a singIeisola-
spring rates k1>1 k" k., and about ""hich there are rota- tor are separately determined ln terms of the ntb i5Q-
donal spdng ratt'S k)..,k~, k. (see .Fig. 2). Each of thesc lator'$ elastic properties, QdentatiOI1, and pasition.
These submatrices are thell sumrned over n isolatol's to
springs may be paralleled by a ViSCOllS damper. In con~
ventional 111QutÜ design, the rotational stiffnesses of the forrn [K].
isoL'ltor are usuaUy ueglected. However, this is Bot a
gOQdassumptionfor some newer isolation s}'stems and A. Translational Stiffness Submatrlx [K~.!:]!t
these rot,;'l.tional properties <l.re induded il1 subsequent Consider that the rigid body's center of mass under-
an.alyses. goes a general vector transla.tiOllt defined hy the column
The general force-displacemcnt and moment-rotation matrix {XL without any rot3.tion aI the body. [K~,,]~
rda.tions for any 1tth isolator with respect to its clastic is then de6.ned by the equa,tion
axes are expressed by the matrix e-quations
[F ,,] =- [K", .•]" ( Xl, (18)
- O O

n
k'lt, À
j. Ir,. = O O O kr k.On S T,n (tO) where (F",} is the caluUln matrill aE forces /"" 1111Ia
{do~
{} [~
-[k' ~O ~..0){;}.. a.long the a;'{es X, Y, Z that result from the general
translation {X}.
] Since the displacements {X} \Vere assumed to QCcur
(11) without rotation, {X},,""" (X}. It follQws,using Eqs.
9, 12, 14, and 15, that
where f l>t frr f~,are fOl:CCS in the P, R, S dil"octions owing {P},,=[A] ••-l{X} = [A]./(X);
to di!;placements p, T, S il1 those directiolls; qp, qH' gOl
RTemoments about the P, RI S axes owing to rotations (F ») ,,=-[l\:p] ••[A,] ••'{X}.~ (19)
À, ~, Vi about those axes; ~nd subscript n denotes nth {F;f} li=--~[A]1l[K p]'l[A Jll'(X},

198 Vol"me 40 NUl'I\ber 1 1966

 ..\\JALYSrS 0[0' VInR.-\TION ISOL.-\TIO:-.í SYSTE:MS

But {F.,) = (F~}", whence or the matrix forro of tbis equation

[Ku]" = [A],,[Kp] ••[A]/. (20) {X}n=[R] ••/{8}, (27)
where [A]n' is lhe transpose af [A]". From I.he form of where [R],,' i" the t.ranspose of [RJ,..
Eq. 20 and the fact that [Kp] •• is symmel.ric, it çan bc The forces at the 150]ator owing to {0} are given by
readíJy 5ho\\'11" that [K u]" must be symmetric. (F"}Il= -[Ku],,{XL,= -[K".1J ••[R],.'{0). (28)
B. RotatiQna1-Translational Stiffness and using Eqs.13, 16, and 17, themoments {Q~}!l at the
Submatrix [KQ:l\]" isolator <lue to {e} are
{Q;t},,::; -[A]n[K"]n[A],.'(e}. (29)
Assuming a general vector transla.tion {X} of lhe
ccnteI' of mass witbout mtatiou, [K8.] •• ia detlned by The total moment {Q",} at lhe center of mass is thus
(21) (30)

where {Q.c} is the column matrix of mOlllents q •.• qUI q", Upon combining Eqs. 28-30, it i5 apparent that
about the lLXCS x. r,
Z which result from lhe general [K61l]n= [RJ"[K",,,,],,[RJ,,'+[AJ,,[KlIJ,,[AJ,/. (31)
translatíon (X).
The forces at the mh isoJator due to {X} have been Using Eq. 25, this c<tn alsu be written as
shown to he
[KHJn= [K,1".],,[R],,'+[A]n[Kx]n[A),,'. (32)
(21)
From the form of Eq. 31 and the fact that [K,uJn í:lnd
Moments (Q .•J about the X, Y, Z axes owillg 1.0 forces [KAJ" are s)'mmetnc, [K,9]n 11l1.lSt be symmetric.5
{F.,} •• at the isolator are gi vell by the vedor cquation
D. Tra.nslatiQual-Rotational Stwuess
Q.,=R ••XF" ••, (23) Subma.t.rb, [Kri]n
or the Hlatrix fonus aí this equation Assuming a general rotatiol1 {0} of the çelltcr of
mass without translation {X}, [K1'.8Jn 15 deflned hr
-r.c
O (24:) {Fai} =-[K1'17J,,{0}. (33)

Rotations {e} produce forces {F"}ll at lhe isolalor~

which are given by Eq. (28). Since (F,.J = {F:Il}n. it
follows lhat
where '%, '11' and '.c are the X,IT. and Z components of [K x11J" = [K "",,]n[R],/. (34)
the position vector R•• from the çcnter of mass to tbe
From Eq. 34, it can be readily shown4 tha.t
Itth isolator. From Eqs. 22 anel 24, it immediately
follows that [K :ci]r.' = [RJ,.[ K .,.,Jnf. (35)
(25) Anel sillce [K.,...] is syrnmetric,
[K"B],/=[R]n[K:lI.!'] ••=[Ke;;] ••. (36)
C. RQtational Stiffness Submatrix [K991r\
Thus lhe importa.nt facl is est..1.blished that the transpose
Consider that t.he rigid body undergoes a general
oí [K""Jr\ is equal to [Kb]".
small rotation defmed by the column matrix {e},
without any translatiooal displacements af lhe center of E. Total Stiffness Matrix
mass. [K~8]••is delined by
The partitioned stiffness matrices (Eqs. 20l 25,
(26) .32, 3-1) derived abQve represent the contdhution of a
The rotations te} produce both displacetnents {Xl" single mh isolalor. Toe total stiffness matrix is fQmlCd
and rotations {e} ••at the í5Olator. [8J,,:=;:[8J and, for by summing these submatcices over the number of
isolators. This leads to lhe following expression for the
small rotations, {X},. is íound from the vector eqllatÍon
stiffness matrix in term5 af the isolators' elastic proper-
Xn=6XRn, ties and toe met!us .md transfonllation matrkes:

(31)
[R],,[K:j,. -1-I E~[R]~[KJl:J~fR-]:+[.~
[KJ= [ ~ ••
~"[K,,,.],. 2:.•[Ku],,[R],,'J,,[KA~I~61]:
]·
where [K ",,]••= [A],,[K i>] ••[A]n'.

l> M.. A. Frazer, W. J. Dunca.n, 3.nJ A. R Colfar, Jj"1emmlay)/ Ma/das (Cambridge Univer3Íty Press., Loudon. 1960), pp. 25-26.

The JÓllrllol of fhe AcoustkoL Socíety ôf AmetÍcQ 199

 L. E. S M O L L~EN

Because [K~~J" and [K~e]n are symmetdc matrices Combining Eqs. 42 and 43 with Eqs. 46 and 47, lhe
and [K 8.]" is equal to t;he t.rnn!ijlose af [K "']"1 CK] Ul1,1st foUowing resu1ts. for the influençe weffident matrkes
be a syrometrk matri;(. That is k'i=ku. are obtained,
Au equation analQgous to Eq, 37 could be similarly
derived for the system damping matrix [C], whiçh [lI.]" ~ [K 1'J,,[.4 J.•'[[G",J+ [R] ••'[Gb]), (48)
could .uso be shown to be a syrnmetric matrix. [H~J••"",,[Kp]~[AJ,/[Gb]' (49)
IV. INFLUENCE COEFFICIBNTS If required, the above methods ca.n also be used to de~
velop equations relating forces and moments along lhe
For the structural substantiatíon af au isolation sys· elastic ai'Ces of the isolator to moments at the çenter of
tem design, the loads and moment$ a.long the elastic mass.
a.xis af each isolator due to prescribed g (crash) loods at
tbe system center of mass must be deterrnined. For 5uch VI. RESPONSE TO SlNUSOIDAL FOUNDATION
an analysis, matrix relations are desired af the forro MOTION

{Fp} ••=[HI],,{F.,}, (38) Consider Eq. 3 rewntten in the fonn

{Qp} ,,:a [H:l],,{F:}, (39) [M]{X} +[C](X}
where [ll]] ••and [H:l]~are intluencecoeffidcnt matrices +[K] {X} = [C]((J}+[K]{U}. (50)
that relate forces at the center oí mass to moment and
l(i8 desired to find lhe steady.state solution of the
force vectors along the nth isolator elastic axcs, above equation to single-frequ€ncy exdtations of the
The displacements {X} and rotatiOtlS {a} abaut the forro
X. y. Z axe~ (Fig. 1) duc to forces ar rnoment~ about +
{U} "'"(U •. jUI}eiwt, (51)
these axes can be determine<! from the equation involv~
iug the Ínverted stiffness matrix, where {U •.} 1Slhe real part and { Xi} the imaginary pa.rt
of the column matrÍ:t af inputs. This complex forro of the
column vedor input eU} permits a representation of
phase differences betwccn tJIC various input motions.
The desired steady-state sorutions are assumed to
have thefQrm
which is more conveniently written
(52)

-- = [Cz",
----1---· -- , (41) where {Xrl is the real part and {X.} is the imaginary
e
{X} i CriJ{F:&}
Gg;l; I Gqe Q", part of the column matrix of response motions. The
absolute magnitude of any individual response IDotion is
where G.,"'l G",lh ete., are the partitioned flexibility sub- found from the real and irnaginary parts of the separa te
matrkes af the entire inverted stiffness matrix. Tech~ responses by
niques for inverting the partitioned stiffness matrix are (53)
well known. á,5
It foUaws from Eq. 41 that the rotations and dis- and the phase angle between the response and a refer-
placements of the body's centcr aí mas:,>due to applied ence input (for which the imaginary component is
forces {F",} are zero) is
{X} = [G",,,,] {F",L (42) tJ~=tan-1(xdXr), (54)
(e} = [G9.]{F",}. (43) where, in lhe above, Xr is any aí the real components a.nd
Xi the corresponding imaginary component af Lhe re·
The rotations and displacements at the nth isolator sponse ma.trices {X •.} and (Xi}'
in the directions aí its elastic ii..\es can be eX1>ressed in Substituting Eqs. 51 and 52 into Eq. 50 leads to the
terms of the rotatiolls and displacements at the centcr af fQllowingmatrix equation for tbe detennination of
mass by the equatiolls {Xr} and {Xi}:
{P},.=[A],,'[(XH-[R] ••(8}], (44)
(A}••=[A],.'{Bh (45) Xi = [~~~-~w:[!9
{?!~} (1)[(.1' =\~_ ~ _wf~]_~J-l
[KJ-w:l[M]
whence
{F p} = [Kp] ••[A],.'[{X}+[R] ••'{B}], (46) r!K] I -W[CJ]{Ur:}U;' (55)
XC[CJ-\--[K"]-
__ {Q»} = [K>.]••[A],/(e}. (41)
It should be noted lha.t if [C]=o, Eq.55 reduces to
as. H. Crandall and R. B. McCalley, Jr., "Numerical Methods
of Analy$eS," in Sh(J(;k d'ui Vibralüm llandbook, C. Crede and {X •.} = [K]-w2(M]}-J[K]{ U".};
C. Harris, &ls. (McGra.w-Hill Book Co., lnc., New York, 1961). (56)
Vol. 2, Chap. 28, pp. 28-30. {Xi}= [K]-w2(M]l-l[K]{UI}.

200 Volume 40 Nl.Imber 1 1966

 AN)\LYSlS OF VIBRATION ISOI"ATION SYSTEl\.'tS

Ooce the column matrices {Xr} and {Xtl have been laxly useful in conducting compu ter design studies of
found, the individual responses caIl be found from Eq. com.plex multicoupled s}'stems. Starting with the fll.diu$
53. It i5 apparent that for highly coupled motions, solu~ matnces, transformalion matrkes, nnd elastic proper~
tions to Eq. 5S are impracticnl withQut a high-speed ties of the supporting isolators as inputs) the computeI'
digital compu ter. could be programmed to solve for the system stiffness
VI. DISCUSSION a.nd damping properties using Eq. 37 and theu for the
response of tbe system by the applica.bIe ma.trix equa·
The results presented abave s.how the compactness tions, e.g., Eqs. 1, 5, 53, 55. ln this wa}'~for vibratioo-
and simplidty of the matrix approach lU representing the sensitive systems, the effect af a number Qf desigl1 p<"lranl'
equations of motion and in developing the system's et.ers ou isolation system performnnce could be rapidly
stiffness ar damping characteristics. 1t ha5 becn possible evaluated and the response of highly coupled systems
to write a single matrix equation af motion, and simple readily determined.
one-line equatiolls in matrix format for the system ln the Appendices that follow, two weU-known
stiffness (or damping) characteristics due to n. single problems are treated by the above matrix tec.hniques.
isolator and isolator influence coeffidents. Note also, Appendix A deve10ps the stiffne~ matrix:, influente t::Q-
that the matrix development of these stiffness and in~ effident matrices, and the matrix equations ai motion
fluence coe.fficient characteristics does not require any for a rigid body supported hy a focused or lfequivalent
three-dimensional visualization of forces, moments, or c.g." isolation system. Appendix n presents the de~
dcformations. From readily determined transformation, velopment oí the individual terms of the ~ystem sti/Iness
radius, and ba.sic isolator stiffness matrices, the system (or damping) malrices owing to a sll1gle arbitrarily
stiffness (or damping) matrices foUo\\' by simple matrix positioned and oriented isolatof. The general expressions
mul tiplication. for the direction-çooine transfonnatton matdx: and
Tne matrix equations presented should be partku- radius matrix are used in this analysis.

Appendix A. TypicaI Isolation Problem

Most a.spects of the problem treated have becn con- A-L It consists of a rigid cylínder support.ed by radiaUy
sidered by conventional analytical methods1•3 and its inclined undamped isolators that are attached to the
presentation here is for the purpose af illustrating the base oí the cyllnder at an axial distance b beneath its
matrix methods af analyses. Hawever, the indusion of center of mass, and ut equal angular intervals around a
the isolators' rotational stiffnesses and the derivation af mounting drcle of radius a from the Z axis. The isolators
influence coefficient matrices \Vere not considered in pre- are assumed to have equa.l spring rates kp, k,. k., and
vious references. k". with k).=kf=O. The isolators are inclined 50 that
The type of systenl to be analyzed is shawn in Fig. their S axes meet at a commofl· point ao the Z axes,

l,i

FIG. A-1. RadiaJly inclined

isolation system.
 L. E. SMOLLEl'::

forming focus angles l' with that a~s, and 50 that the P rotatiol1s.
axis of each isolatoris tangent to the mount circle.
Figure A-I ShOW5 an arrangement for three such isolator có •• O O sf', (Ai)
elements but, in the analyses that follQw, 1t such isola- [A] ••= [ca
_~,. O
.• -só", 1 O
0][1 O]
cr
tors (tt ~ 3) are trea.ted.
whence,
For the type of system shown iu Fig. A-I, but con-
sisting of tt isolators, it is desired to determine the stilT-
(A2)
ness matrix, the focus angle that eliminates conpling,
[A J.•= [dA
O -SÔnCS
sôll -S5
<:8llct c3"sl",
-s41\st]
Cs
the system natural frequencies and the isolator in-
fluence coefficient matnces. where c is tOS, S is sino The matrb: [R] ••.can be expressed
The X, Y, Z, axes shown tn Fig. A-I are inertial axes in tenns of a, b, and 8••as
at the center oí mass anel lhe ",t, Y, Z axes are principal
axes of the cylinder for which II{i=Ij}t=I'i.i=O anel
(A3)
l~f=I1i~' (X, Y, Z and X, V, Z are coincident with the
body at rest.) The inertia mutrix [M] of the cylinder is
-b
[R]l\= [ açô"
O +6
O
asó" -asô".
-acõ,,]
O

thus a diaganal matrix. And the stiffness matrices of the l'lth isolator with respec.t
Referring again to Fig. A-I, the orientation of the P'u to its own elastic axes are
RIl, S'l elastic axis af the 11th isolator relative to the X'l'
Y'l, Z ••.
, axis mn be specificd iu tcrms af tbe fQCus angle
r and the angle ô" measured counterdQckwise from the [Kp]lI= k, II j [Kx] ••= [0O O
positive l'••
ax:es to the projection of the positive S~
O
[kp O
O O
kll
O] O II•
O k"
O] (A4)

axes ou the X- Y plane. The transfom1atioll matrix The stiffness submatrÍces due to a single mount
[A]" rela.ting the X fi, JT t4, Z" and P ••, RIl' S A directions ] ••, [K 6'",]", [K H],,) are found by substituting
([K ",.••
is most easily obtained by lloLing that the X"' 1'1\ Z" Eqs, A2-A4 Ínto Eqs. 20, 25, and 32 and perforrning the
system can be transfom1cd to the PIO' R", S" s)'stem by indicated matrix multiplications. SUOlming t.he sub-
two successive rotations: fi positive mtation l51l about Zn matrices 50 obtained over n equally spaced isaIators and
and then a ncgativc rotatioll r
about the rotated X" substituting the resultant total stiffness submatrices
a.xis. [A]>t ís. found from the product of the two trans- together wíth the diagonal mass matri::.: into the matrix
fom1ation matriccs assodated with these individual equation of free vibration yields

oOO+oo
OO II
zxoo
ku
zcp IIo-k",+
o olu
oo
m ----------~----------
miO
ri lu~+kll'
1i
Õ(J o
/tO
k",,,,
'Y 1/1
kYIIOo O
OII
I-k~~
ooIfc!4
tIO oo
ku o
k1l~
kql/>
--
oOOokll,
oO (AS) -- r=O,

where Inspection af Eq. AS shows that complete O1ot10n de-

CQupling can be achieved if k:+=ku'=O. This condition
Ieads to the wen~knownl.3 focus-angle requirement for
campletely decoupled motion,
}(1-kr/k .•) sin2s o
(A8)

With sueh decoupling, 8i:<: independent equations af IllO-

tion define the free vibration of thesystem whose natural
frequencies are readily determineti to be

(A9)

and s i5 sin, c is coso

202 VOfiiltlO 4() NIII11f!ér 1 1966

 ANALYSIS OF VrnRATION ISOLATION SYSTEI ••.
tS

where k:u.,k~~~ete., are as previously noted~ with r

in Ato into Eq. .'\11 yields for the forces developed at toe
these expressions deflned by Eq. A~. 11th iooIator nwing to forces at the center of rnass:
Influence coefficients re1ating forces along thc 11th

easily fOlmd for the decoupled system. =1 Decause

ku
ku -~
isolatoes elastic !lxis to forces at the center of mass are
k~Jt the
kpeÔ4~
-krs!;
,. k~~
kuk.c(
R.k.câ
kllu
klly •..s!
krcô"ct
--~
kpSÕ,~
o 111/
--
=k.J5&lIst -krSQlI.ct
stiffness matrix is diagonaI, the flexibílity submatrices
are simply
Fu h (A12)

[Gd] =0, [GuJ= O

O
[l/kx# J/I~lIlf.
O l/kzz
O
O] I (AlO)
and the inf1uence coefficient matrkes reduce ta
where the focus angle t
is defined by Eq. A8. Since
[lJ2],,=O, forces at the centcr af mass do not develop
Suhstituting the matrices given by Eqs. A2, A4, a.nd moments abaut the isolators' elastic axcs.

Appendix B. General Stiffness Matrices for Single Isolator

The individual terms of the system stiffness matrix o•••• -ing to an arbitrarily positioncd and oriented isolator
(Fig. 3) are derived using the general transform;ltion matrix (Eq. 8) and the general expresslon for the radius matrix
(Eq.2'!).
Using E:q. 8 for [A]n, Eq. 20 for [K"",,]n becomes, in expanded form,

(Bl)
(lyr-
l)yl)
alJp au
l)~r
a4P] 10 •

For convenience, the result or the matrix multiplications for [K.tz]n i5 wrítten as

(B2)

where
2+ krau2+k~u:l,
ku= kpO-xp
kllu= kpl)lIl+k,.l)lIr-2+k.all.!,
kn= kpazp=+k~,"r!+k.,au=,
(BJ)
k$i1J= kpav;r.a""p+ k,.all,.(Lzr+ k&l)II&l)Z.,

= kpthpax~+ k,.anl);I;r+ k..,a.ul);I;~l

k;:;~

+
kvz ~ k pall"azP+ k,.a~..av•. k JEv.a •••

Using the general fonn af [R]n Eq. 24, Eq. 25 for [K8;1;]" becomes, 1n e:<::pandedfonu,

(B4)

whence

(B5)

[K k].~[(kUYlI-kZlIrZ)
.(k,,,Y.- k••,.)
(krrjr",-k.",rll) (k~,. - k,.h) (kvi<T.r;-knTu)
(kll~"IJ-kvllr~)
(kllur'E.-k"vTu) (k•••••- k."Y.) ."•
(kurll-kllzrs>]

The Journal of th.t A<:oumcal Soeiety of Amorica 203

 L • E;. S ~1O L L E N

Finally. from Eq. 32~ using the abave results for [Ke..]".

Gu
nu
aap] ,.
J (D7)
from which it follo\\'S that

r"2kllV+rik.,,
-2r"r,kf/ •.+ke9 IrJJe",,+'''.k'''7> Ir#~II:+r.r~~1I
-r/l~7iIl-rw;7;kn+k~~ -r,l-ku-r"ri~tllI+1ê.",

(B8)
-r .•+rwzk",z
r ••rzkllz. 2k"ll-r"rll •..•
+ko• -2T;l:1'.k •.•+k.;v
_ l,slk.,.,+rz2kn _ r." -r.ryk",a-r",2kll.+k.tl
.•k.••••
+r"'r;lk"' .•. _ >

-rlk",.-rJi~lIl1+1ê""
~~vkliZ+T.r~"'1I -1'yr"k",,,-r,,"'ku -.•+kM r,Jlku+r",,1kllu
IrJ.k""'+1'ur".P"a -21'II'zk"'1I+.iéI/!if' I fi

where
"1111 "'" k).a",~2+ k e(J,.;, 2+ k",a",~ '?t
k<iJ(; "'" kl\a"p'+ k(all,2+ k"ªv.',
k-y., = kA,a,p'+ kt{1:r2+k.au'> (119)
1i9~=k~llypll-zp+k~II,a.,,+~,a •.e,
k9.v = k}.a.,pazp+ k(az.a,,,.+ kvana.,.,
k,<>i< = k>..Ilyp<l.zp+ k tG:rIly,+ k,alJ.a" •.

N ate that if the isolators' rotational stiffnesses k., k>.., and k( are set equal to zero, the results given above for [K •••.
.]".
[K9d]". and [K!I;/.]" agree with those given by Himelblau and Rubin.1

204 Volume 40 Number 1 1966