Abstract:
The invention disclosed is a magnetorheological fluid device offering vibration isolation and broad modulation range damping in a high load carrying and compact form. A cylindrically shaped flexure structure has a bottom cap attached to one end and a top cap attached to the other end. A piston comprising a toroidal displacement body, a central shaft, and intermediate connecting plate, attaches to the top cap. A fluid chamber surrounding and generally conforming to the shape of the toroidal displacement body, is attached to the bottom cap. Two bellows attaching between the piston connecting plate and top and bottom portions of the fluid chamber complete an enclosed volume around the toroidal displacement body and allow frictionless motion of the toroidal displacement body relative to the fluid chamber. Electromagnetic coils placed within the inner and outer radius walls of the fluid chamber effect a magnetic field across the outer radius gap and inner radius gap between the toroidal displacement body and fluid chamber. Longitudinal deflection of the cylindrical flexure structure effects motion of the top cap relative to the bottom cap which in turn effects longitudinal motion of the toroidal displacement body within the fluid chamber. Magnetorheological fluid is forced from the top of the toroidal displacement body to the bottom, and vice-versa, across the inner radius and outer radius gaps between the fluid chamber and the inner radius of the toroidal displacement body. Static payload loads are supported with a high-strength, linear-elastic load path while base motion dynamic vibration loads are substantially isolated and damped without stiction effects.

Description:
STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH  
       [0001] This invention was made with U.S. Government support under Contract No. NRO000-01-C-4374. The U.S. Government has certain royalty-free rights in this invention. 
     
    
     
       BACKGROUND OF THE INVENTION  
         [0002]    The present invention relates to damping mechanisms and vibration isolation mechanisms. More particularly, the present invention pertains to a high-strength, compact, magnetorheological-fluid-modulation-damped vibration isolator.  
           [0003]    The use of magnetorheological (MR) fluid in a damping device allows for the controlled variance of device damping as a function of the strength of a magnetic field induced into a controlled or valved region of the MR fluid. Coil electromagnets, permanent magnets, or a combination of magnet types are used as the means for magnetic field creation. The use of coil electromagnets allow for the variance of the magnetic field with the variance of the electrical signal amplitude applied to the coil. Many devices exist within the prior art that take advantage of this smart material capability of MR fluids.  
           [0004]    Problems present in MR fluid damping devices of the prior art include fluid leakage and rapid seal wear in devices incorporating dynamic type sealing, i.e. where surfaces slide over one another such as a piston rod sliding through a concentric lip seal. The maintenance of good lateral alignment of the moving components of the damper relative to the fixed components and the support of off-axis moment loading is also problematic within devices of the prior art. Tighter seals and bushings are often used for improved alignment and moment support but cause greater friction loads and stiction effects between the moving components. Devices of the prior art have thereby been relatively intolerant to off-axis moment loading.  
           [0005]    An example of the prior art usage of magnetorheological fluid in a damping device where dynamic seals are relied upon is seen in U.S. Pat. No. 5,277,281. Therein a damper assembly is filled with MR fluid and an electromagnetic coil is contained within the damper piston. The viscosity of the MR fluid flowing past the piston is varied by varying the magnetic flux around the piston by means of an electromagnetic coil mounted within the piston. In an alternative embodiment of that patent, two tubes are utilized, one concentric to the other, wherein a piston forces fluid out of the inner tube and into the outer tube across a valved area controlled by a stationary coil at the end of the tubes. In both these embodiments, dynamic sealing is relied upon around the piston shaft.  
           [0006]    Bellows type sealing and relative motion provision within a fluid damper have been described in U.S. Pat. No. 4,815,574. Therein a bellows surrounds a piston shaft and thereby prevents damping fluid from contacting the piston shaft at its protrusion from the surrounding damper cylinder. Lateral alignment of the piston shaft and guidance within the cylinder are still, nevertheless, accomplished with a bushing at the end plate through which the piston shaft passes. Friction forces and stiction develop at this bushing, and lateral alignment of the piston within the cylinder is controlled largely by the lateral forces developed on the piston by the cylinder wall, further adding to friction and stiction effects. Additionally, this device does not provide for static load carrying except at the end of travel points of the piston.  
           [0007]    Often damping mechanisms of the prior art offer damping capability only and do not provide static load carrying capability. This is the case with the patents described above which require the dampers to be placed in parallel with static load carrying, vibration motion isolating members, such as coil or leaf springs or elastomeric mounts. The support structure for a payload thereby requires significantly greater space and attachment hardware than that afforded by a single device offering both damping and load carrying integrally.  
           [0008]    Dampers which do provide integral static load carrying capability commonly use elastomeric elements in the primary load path of the device. U.S. Pat. No. 5,398,917 shows an example of a MR fluid damper incorporating an elastomeric element to serve as a spring for vibratory motion isolation. U.S. Pat. No. 5,284,330 describes an MR fluid damper wherein elastomeric elements are used to allow the relative motion between a piston and its surrounding cylindrical fluid chamber. Similarly, U.S. Pat. No. 5,492,312 uses elastomerics to allow relative motion of a central shaft and piston relative to a surrounding fluid confining cylinder. In these devices the elastomeric elements do provide a static load path within the device. The drawbacks with the use of elastomeric elements, however, are the non-linear load/deflection characteristics imparted to the device and the relatively low strength capabilities of the elastomeric elements which limit the static load carrying capability of the device.  
           [0009]    Applications in aerospace payload support commonly require damper and vibration isolator mechanisms to have as low a profile as possible so to minimize the lengthening of the overall spacecraft structure. It is often desirable to insert a damping and vibration isolation support mechanism within the existing interface of a payload and its support structure. The desire for low profile, compact structures adds value to devices which maximize the damping force effected for a given length of damper. The elimination of stiction in device performance also becomes of premium value where precise motion control and positioning of a payload is desired. Mechanical robustness, reliability, and predictability of performance are additional qualities required of airborne devices.  
           [0010]    Notwithstanding the many devices of the prior art utilizing magnetorheological fluid for damping, there remains a need for a device that combines within a single, low profile, compact package, the wide range of damping controllability of a magnetorheological fluid damper along with high strength and optionally linear-elastic load carrying capability accompanied with substantial vibration and shock load isolation. The device should also avoid the stiction and high wear sealing problems associated with dynamic seals prevalent in MR fluid devices of the prior art. The invention described herein provides for such a device.  
         BRIEF SUMMARY OF THE INVENTION  
         [0011]    The invention disclosed is a magnetorheological fluid device offering vibration isolation and magnetorheological fluid modulated damping in a high load carrying and compact form. The device effects a novel integration of high strength, medium-to-low frequency vibration isolation with high value, variable damping and does so in a more compact combination than magnetorheological devices of the prior art. It further does so without the need for dynamic seals. Importantly, the invention obviates the presence of any wear surfaces from existing in contact with the commonly abrasive magnetorheological fluid.  
           [0012]    In a preferred embodiment the device is comprised within a short, cylindrical package and can be used singly or in multiplicity for mounting a payload and providing a variable and controllable damping level in combination with substantial vibration isolation. In the embodiment the device is comprised of a cylindrically shaped flexure structure which in addition to serving as a flexure structure also serves to house and laterally position align and stabilize the components of a magnetorheological fluid damper. A bottom cap attaches to the bottom end of the cylindrically shaped flexure structure and a top cap attaches to the top end. The top and bottom caps move relative to one another, primarily along the longitudinal axis of the cylindrical flexure structure and thus allow for attenuation of vibration through the device. One end cap serves for mounting of a payload and the other for mounting to a base or payload supporting structure. The flexure structure of the preferred embodiment is a machined, multi-layer opposed beam structure that allows for relatively high compliance with high strength, linear-elastic materials, such as aluminum, titanium or steel. The use of elastomerics in the load path of the device, as is common with isolators of the prior art, is avoided.  
           [0013]    The top and bottom caps serve to provide a parallel load path between the payload and the payload supporting structure. The first load path is as described above which is through the cylindrical flexure structure. The second load path is through the magnetorheological fluid damping portion of the device. In the damping portion, to the top cap is mounted a piston which moves within a fluid chamber that is mounted to the bottom cap. The piston is comprised of a central connecting shaft, a connecting plate, and a toroidal displacement body. The connecting shaft is attached at one end to the interior surface of the top cap and at the other end to the connecting plate. The connecting plate extends radially outward from the connecting shaft and supports the toroidal displacement body. To the bottom cap, radially interior to the attachment to the cylindrical flexure structure, a fluid chamber is mounted. The fluid chamber forms a somewhat more elongated, toroidal cavity around the toroidal displacement body of the piston and encloses the toroidal displacement body completely except for a clearance space on the inner radius between top and bottom portions of the fluid chamber. Through this clearance space passes the connecting plate which supports the toroidal displacement body within the fluid chamber to the connecting shaft outside of the fluid chamber.  
           [0014]    The magnetorheological damping portion of the device also serves as a means to significantly vary the effective stiffness of the device. The application of a strong magnetic field to the damping portion and resulting stark increase in effective viscosity of the MR fluid effectively locks the top cap to the bottom cap via the piston and fluid chamber structure and thus causes the stiffness of the second load path to increase dramatically such that it is much higher than that in the first load path. The overall device stiffness can thus be varied from a relatively low stiffness level where the flexure structure stiffness governs to a much higher overall device stiffness where the serial stiffness of the top cap, piston, and bottom cap govern.  
           [0015]    The clearance space in the inner radius wall of the fluid chamber is enclosed by use of two bellows. A first bellows attaches and seals between the bottom portion of the fluid chamber and the bottom surface of the connecting plate. A second bellows attaches and seals between the top portion of the fluid chamber and the top surface of the connecting plate. The two bellows thus attached between the connecting plate and their respective portions of the fluid chamber allow for longitudinal movement of the piston and its toroidal displacement body within the fluid chamber and provide for sealing of the toroidal displacement body within the fluid chamber without the use of dynamic seals.  
           [0016]    The top and bottom caps being laterally aligned by the short, laterally stiff, cylindrical flexure body, provide for the lateral alignment of the piston and toroidal displacement body relative to the fluid chamber. The toroidal displacement body, being part of the piston connected to the top cap, thus moves up and down in the fluid chamber with the movement of the top cap relative to the bottom cap as allowed for through the longitudinal compliance of the cylindrical flexure structure.  
           [0017]    In the preferred embodiment electromagnetic coils are positioned in the radially inner and outer walls of the fluid chamber such to induce a magnetic field in the volume of the magnetorheological fluid surrounding the toroidal displacement body. In the longitudinal motion of the top cap relative to the bottom cap, the toroidal displacement body displaces magnetorheological fluid from the top of the toroidal displacement body to the bottom of the body, and vice-versa, through a gap between the walls of the fluid chamber and the surfaces of the toroidal displacement body. The effective or that is apparent viscosity of the magnetorheological fluid is varied by varying the electrical current supplied to the coils and thus varies the effective damping of the device. The damping and stiffness of the device and the support of the payload overall can thus be tuned to minimize or change the fundamental resonance modes associated with a payload mounted to a vibration isolation support.  
       
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS  
       [0018]    The operation of this invention can be best visualized by reference to the following drawings described below.  
         [0019]    [0019]FIG. 1 is an isometric view of a magnetorheological fluid device in accordance with an embodiment of the invention.  
         [0020]    [0020]FIG. 2 is a side view of the magnetorheological fluid device shown in FIG. 1 in accordance with an embodiment of the invention.  
         [0021]    [0021]FIG. 3 is a cross section view of the magnetorheological fluid device shown in FIG. 1 in accordance with an embodiment of the invention.  
         [0022]    [0022]FIG. 4 is a detailed cross section view of the fluid chamber area of the magnetorheological fluid device shown in FIG. 1 in accordance with an embodiment of the invention.  
         [0023]    [0023]FIG. 5 is a cutaway view of a cylindrical flexure structure comprised within the magnetorheological fluid device shown in FIG. 1 in accordance with an embodiment of the invention.  
         [0024]    [0024]FIG. 6 is a cutaway view of a top cap comprised within the magnetorheological fluid device shown in FIG. 1 in accordance with an embodiment of the invention.  
         [0025]    [0025]FIGS. 7 a ,  7   b ,  7   c ,  7   d , and  7   e  are top, side, bottom, and two different cross section views, respectively, of a bottom cap comprised within the device of FIG. 1, in accordance with an embodiment of the invention.  
         [0026]    [0026]FIGS. 8 a ,  8   b , and  8   c  are top, side, and cross section views of a piston comprised within the device of FIG. 1, in accordance with an embodiment of the invention.  
         [0027]    [0027]FIG. 9 shows a cross section view of a fluid chamber top mounted to a bottom cap, comprised within the device of FIG. 1, in accordance with an embodiment of the invention.  
         [0028]    [0028]FIGS. 10 a ,  10   b ,  10   c , and  10   d  are top, side, bottom, and cross section views, respectively, of a fluid chamber top comprised within the device of FIG. 1, in accordance with an embodiment of the invention.  
         [0029]    [0029]FIGS. 11 a ,  11   b ,  11   c , and  11   d  are top, side, bottom, and cross section views, respectively, of a main bellows comprised within the device of FIG. 1, in accordance with an embodiment of the invention.  
         [0030]    [0030]FIGS. 12 a ,  12   b ,  12   c , and  12   d  are top, side, bottom, and cross section views, respectively, of a coil housing comprised within the device of FIG. 1, in accordance with an embodiment of the invention.  
         [0031]    [0031]FIGS. 13 a ,  13   b , and  13   c  are top, side cross section, and bottom views, respectively, of an accumulator bellows comprised within the device of FIG. 1, in accordance with an embodiment of the invention.  
     
    
     DETAILED DESCRIPTION OF THE INVENTION  
       [0032]    Described in detail below is a magnetorheological fluid device offering vibration isolation and magnetorheological fluid modulated damping in a high load carrying and compact form. In the description, for purposes of explanation, many specific details are set forth in order to provide a thorough understanding of the present invention. However, the present invention may be practiced without these specific details, as would be obvious to one skilled in the art.  
         [0033]    A magnetorheological fluid modulation damped vibration isolator (MRFMD isolator)  10  is depicted in isometric view in FIG. 1 and in side view in FIG. 2 in accordance with an embodiment of the invention. The exterior of the MRFMD isolator  10  is comprised of a low profile cylindrical flexure structure  130  having a top end cap  110  and bottom end cap  120  mounted at the two ends of the flexure structure.  
         [0034]    [0034]FIG. 3 shows a cross section view of the MRFMD isolator  10 . The internal, damping element components and features of the MRFMD isolator are described further and separately in the following paragraphs.  
         [0035]    The flexure structure  130 , as seen in FIGS. 1 through 3 and shown further in cutaway view in FIG. 5, provides for the lateral alignment of the internal damping components of the MRFMD) isolator while allowing longitudinal displacement of the top and bottom end caps  110  and  120  relative to one another for vibratory motion and load isolation. The end caps  110  and  120  provide for mounting of the device between a payload and payload support structure with minimal additional mounting height to the overall payload. It is iterated that the flexure structure  130  described is of the particular embodiment depicted in FIGS. 1-3, and  5 . In further embodiments flexure structure  130  is replaced with other structural forms constituting a lateral alignment and moment resisting mechanism and are configured external to the magnetorheological fluid volume.  
         [0036]    The cross section view of FIG. 3 and the fluid chamber detailed cross section view of FIG. 4 further show the relationship of the various internal components relative to the external features seen in FIGS. 1 and 2, in accordance with an embodiment of the invention. Piston  200  mounts to the top end cap  110  and thereby is driven by the motion of the top end cap. A damper top  320  mounts to interior structure of the bottom end cap  120  to form a chamber around the piston  200 . In a preferred embodiment and as shown in FIG. 3, the piston  200  is comprised further of a toroidal displacement body  230  and the fluid chamber is of a comparable, somewhat elongated toroidal shape. Further details of the piston are described later in reference to FIGS. 8 a - 8   c . The fluid chamber is made complete around the toroidal displacement body  230  of the piston by the mounting of two main bellows  500 , one between the piston  200  and the damper top  320  and the other between the piston  200  and the bottom end cap  120 . In the embodiment 3 coil electromagnets  410  are positioned around the piston, one being positioned outside the piston&#39;s toroidal displacement body  230  between the damper top  320  and bottom end cap  120  and the other two radially interior to the toroidal displacement body within coil housings  600 .  
         [0037]    As shown in the embodiment of FIG. 3, an integral accumulator is nested within the MRFMD isolator  10 . Accumulator bellows  700  and accumulator housing  830  are mounted on the interior of the bottom end cap  120 . A coil spring  810  and spring adjustment screw  800  provide for accumulator and device base pressure adjustment.  
         [0038]    An important feature of the embodiment of FIG. 3 is that the fluid volume contained within the fluid chamber is constant. This is more clearly seen in FIG. 4. The fluid volume, comprised primarily of volumes  35 ,  45 , and  15 , remains constant throughout the stroke of the piston and no volumetric accumulator, i.e. large volume absorbing accumulator, is necessary. The integral accumulator shown and described within the embodiment allows for thermal expansion of the MR fluid and for adjustment of the base pressure of the MR fluid within the device.  
         [0039]    A further significant feature of the embodiment is that the accumulator bellows  700  and the two main bellows  500  are completely isolated from the high pressure areas within the device, those areas being volumes  35  and  45  alternating in turn with the stroke of the piston  200 . Very high fluid pressures can be developed in the device around the toroidal displacement body  230  in the volume of the fluid chamber above, volume  35 , and volume below, volume  45 , the toroidal displacement body and bounded by the fluid gaps  25 . The fluid gaps  25 , in conjunction with the proximally located coils  410 , effect an MR valving capability. The fluid gaps  25 , through their MR valving effect and their positioning on both the outer and inner radial surfaces of the toroidal displacement body  230 , allow for high fluid pressure to be built up between the toroidal displacement body and the relatively heavy cross section walls of the bottom end cap  120  and damper top  320 . During piston stroking, the MR fluid forced through the fluid gaps  25  drops in pressure to the base pressure established by the integral accumulator as it passes beyond the fluid gaps  25  and into the volume  15  adjacent to the main bellows  500 , that volume  15  being in fluid confluence with the integral accumulator. Further features of the piston, described later in reference to FIGS. 8 a - c , minimize pressure build up of the M fluid in the fluid volume  15  adjacent to the bellows  500 .  
         [0040]    In alternate embodiments, the integral accumulator is replaced by a gas pressure accumulator or other type of accumulator means.  
         [0041]    [0041]FIG. 6 shows a cutaway view of the top cap  110 . Top cap  110  provides through holes for mounting fasteners  111 , seen in FIG. 1, for attachment of the damper piston  200  shown in detail in FIGS. 8 a - c , and described later. FIGS. 1 and 2 depict fasteners  112  for mounting of the top cap to the flexure structure  130 . External mounting holes  113 , as seen in FIGS. 1 and 6, provide for mounting of the MRFMD isolator to the payload. Ventilation hole  114  provides for ventilation of the interior mechanical voids within the device so to avoid the trapping and compression of gases. In the embodiment shown, a flexure region  115  is formed within the top cap  110  and provides for a tuned stiffness to be added in series with the piston  200  and in parallel to the flexure structure  130 .  
         [0042]    [0042]FIGS. 7 a - e  show respectively the top, side, bottom, and two different cross section views of the bottom cap  120 . Holes  121  provide for the attachment of the damper top  320  depicted in FIG. 10 and described later. Holes  122  provide for the attachment of the bottom cap  120  to the flexure structure  130 . Holes  123  provide for mounting of the MRFMD isolator  10  to a payload support structure. Holes  124  provide for attachment of the accumulator bellows  700  depicted in detail in FIGS. 11 a ,  11   b , and  11   c  and described later.  
         [0043]    In the embodiment shown, the bottom cap  120  serves as a portion of the fluid chamber for the damping portion of the device. A cylinder wall  128  serves as the lower surface of the fluid chamber. Further, within the structure of the bottom cap  120  are two o-ring glands  125  for sealing of the magnetorheological fluid within the damper portion of the device. Mating surfaces  127  for the damper top  320  are provided. A magnet wire hole  126  is provided for allowing electric signal control to electromagnetic coils  410  comprised within the MRFMD isolator.  
         [0044]    [0044]FIGS. 8 a ,  8   b , and  8   c  show the top, side, and cross section views of the damper piston  200 . The damper piston  200  is comprised of a connecting shaft  210  which attaches to a connecting plate  220 . Connecting plate  220  in turn attaches to and supports a toroidal displacement body  230 . Comprised within the connecting shaft  210  are mounting holes  211  for mounting of the piston  200  to the top cap  110  and vent hole  214 . Connecting plate  220  further comprises holes  221  for minimizing magnetorheological fluid dynamic pressure across the piston in the region of main bellows  500  shown in FIG. 3. Holes  222  provide for mounting of main bellows  500  to both sides of the connecting plate  220 . Fluid filling holes  223  are provided for allowing filling of the magnetorheological fluid chamber.  
         [0045]    [0045]FIG. 9 shows a cross section view of the damper top  320 , which serves as the fluid chamber top, mounted to the bottom cap  120 , which serves as the fluid chamber bottom. The damper top  320  is further depicted in FIGS. 10 a ,  10   b ,  10   c , and  10   d  showing top, side, bottom, and cross section views, respectively. In FIGS. 10 a - d , as in FIG. 3, are shown mounting fasteners  321  which attach the damper top  320  to the bottom cap  120 , as shown also in FIG. 9. Piston through hole  333  provides for the connecting shaft  210  to pass through the damper top for support of the connecting plate  220  and displacement body  230 . Wire routing hole  326  provides for electrical wiring access to the interior of the device. Damper top  320  further comprises mating surfaces  327  for fluid sealing with the bottom cap  120  and cylinder wall surface  328 . As shown in FIG. 9, surface  328  combines with surface  128  of the bottom cap to form the outer surface of the fluid chamber. Also shown in FIG. 9 is magnet wire coil  410 , which is nested between the bottom cap and damper top. In the embodiment the damper top  320  and bottom cap  120  are both ferrous in the region of the coil  410  which allows for direction of a magnetic field across the gaps  25  between the damper top/bottom cap combination and the toroidal displacement body  230 . These gaps are seen in the enlarged cross section view of FIG. 4.  
         [0046]    [0046]FIG. 10 d  shows mounting surface  331  for a main bellows  500  and mounting holes  332  for the same main bellows. The main bellows is depicted in FIGS. 11 a ,  11   b ,  11   c , and  11   d  in top, side, bottom, and cross section views, respectively. Each bellows is comprised of first end plate  510 , an edge welded metal bellows structure  520 , and a second end plate  530 . The first end plate comprises holes  512  for mounting to the damper top  320  or bottom cap  120  and an o-ring gland  513  for fluid sealing against the damper top or bottom cap. The second end plate  530  likewise comprises mounting holes  532  and o-ring gland  533  for mounting and sealing against the top or bottom surface of the connecting plate  220 . Within the first end plate  510  are fluid filling holes  514 .  
         [0047]    [0047]FIGS. 12 a ,  12   b ,  12   c , and  12   d  depict the top, side, bottom, and cross section views, respectively, of coil housings  600  comprised within the MRFMD isolator. A coil area  610  is centered within the coil housings  600 , which are ferrous. A coil placed in the coil housing  600  thus provides for a magnetic field to be directed across the gap between the coil housings and the piston&#39;s toroidal displacement body  230 .  
         [0048]    Depicted within FIGS. 13 a ,  13   b , and  13   c  are top, side cross section, and bottom views, respectively, of the accumulator bellows  700  comprised within the isolation and damping device of FIG. 1, in accordance with an embodiment of the invention. The accumulator bellows  700  and an associated housing  830  (shown in FIG. 3) mounts to the bottom of the bottom cap  120 . The accumulator bellows  700  is further comprised of a mounting plate  710 , bellows structure  720 , and end plate  730 . Within the mounting plate  710  are further comprised mounting holes  714 , fluid fill holes  715 , air bleed holes  716 , and fastener access holes  717 . Mounting plate  710  also comprises a threaded hole  718  for accepting an adjustment screw  800  for varying the preload on a bellows preload spring  810 , as depicted in FIG. 3.  
         [0049]    Important features of the invention include the capture of the MR fluid above and below the toroidal displacement body portion of the piston and the avoidance of use of shaft, cylinder, or external MR fluid valves. The further provision of allowing piston motion within the MR fluid chamber without the use of dynamic seals provides an exceptionally important reliability and maintenance improvement in that the invention does not require moving seals existing in contact with the abrasive MR fluid, thereby avoiding the need for frequent seal replacement. The feature of the accumulator bellows and the two main bellows being completely isolated from the high dynamic pressure areas within the device, through the positioning of the fluid gaps on the inner and outer radius surfaces of the toroidal displacement body, combines with the above features to effect a device that is robust and reliable and capable of operation with very high fluid pressures.  
         [0050]    As seen in FIG. 3, the fluid chamber of that embodiment is of generally elongated form of the shape of the toroidal displacement body  230  of the piston  200 . Upward motion of the piston relative to the fluid chamber causes fluid on top of the toroidal displacement body to be forced to the bottom portion of the fluid chamber. Fluid gaps  25  of controlled width are effected between the outer radial surface of the toroidal displacement body and the outer annular wall of the fluid chamber and additionally so between the inner radial surface of the toroidal displacement body and the inner annular wall of the fluid chamber. Fluid volume remains constant within the fluid chamber and thus avoids the need for a volumetric accumulator. The upper and lower main bellows  500  allow piston motion relative to the fluid chamber and further eliminate the need for dynamic sealing between the piston and the fluid chamber. The positioning of the magnetic coils  410  in the walls of the fluid chamber eliminate the need for a moving coil positioned within the piston.  
         [0051]    A particularly important and novel feature of the preferred embodiment depicted in the figures is the toroidal displacement body of the piston and the comparably shaped, elongated surrounding fluid chamber. The toroidal displacement body provides two separate paths for flow of MR fluid around the piston, and thus provides a lower viscous damping and broader damping modulation range relative to standard cylindrical piston dampers of comparable height and girth. The invention thereby obviates the need for fine passageways through the piston for enhancing damping.  
         [0052]    The embodiment of the invention depicted provides further novel capability in the integral employment of a vibration isolation flexure within the basic structure of the device. The flexure structure, as depicted in this particular embodiment by cylindrical flexure structure  130 , serves as the primary load path between a payload and the payload&#39;s support structure and is formed from high strength, linear elastic materials, such as steel, titanium, and aluminum. No elastomeric materials need be employed as is common in damping and vibration isolation devices of the prior art, though elastomerics may be added easily if so desired. The flexure structure further serves to provide complete and effective alignment of the toroidal displacement body relative to the surrounding fluid chamber. No alignment bushings are required so no friction or stiction effects are induced during operation. The flexure structure combined with the MR damping elements provide for one integrated device having a high degree of vibration isolation combined with semi-active, large damping capability without the need for separate parallel devices.  
         [0053]    In a preferred embodiment, as shown in cutaway view FIG. 5, the flexure structure  130  is comprised of an annular wall in which are constructed multiple parallel beam flexures. The multiple parallel beam flexures are arranged such that the beam flexures are layered and arrayed in opposing pairs and the pairs are adjoined end-to-end to form a continuous ring of opposing pairs of beam flexures around the circumference of the annular wall. Further, the multiple rings of opposing pairs of beam flexures are spaced and stacked coaxially upon one another with beam ending points aligned, and additionally each ring of opposing beam pairs is connected to each adjacent ring of opposing beam pairs with supporting material located between the two rings at the midspan of each of the beam flexures that are adjacent between ring pairs.  
         [0054]    In a further embodiment the device of FIG. 1 is fitted in parallel with a damper spring to provide a three parameter damping device.  
         [0055]    Herewith, a magnetorheological fluid device offering vibration isolation and broad modulation range damping in a high load carrying and compact form is disclosed. The foregoing descriptions of specific embodiments of the present invention have been presented for purposes of illustration and description. They are not intended to be exhaustive or to limit the invention to the precise forms disclosed, and obviously many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and its practical application, to thereby enable others skilled in the art to best utilize the invention and various embodiments with various modifications as are suited to the particular use contemplated. It is intended that the scope of the invention be pre-defined by the claims appended hereto and their equivalents.