Modelling of tuning of an ultra low frequency Roberts Linkage vibration isolator

We present an analytical model for a Roberts Linkage used as an ultra low frequency vibration isolator. The Roberts Linkage is a structure that simulates a very long radius conical pendulum, at a relatively small height. We show through an analytical solution that it is possible to independently tune the centre of percussion and the resonant frequency for arbitrary geometrical configurations. The result is shown to provide a practical tuning solution, which achieves near ideal vibration isolation.