The development of a prototype limited-degree-of-freedom parallel mechanism for vibration suppression is presented. The mechanism is novel in that voice-coil actuators capable of delivering large forces are used to provide high-bandwidth suppression for heavy payloads. A summary of general parallel mechanism kinematic theory is provided, and the singular conditions for the prototype mechanism are explained. A two-axis vibration suppression control system is described, and experimental evidence of closed-loop performance is provided. The prototype mechanism delivers a maximum of 27 dB of disturbance rejection over the target frequency interval 1–10 Hz.
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