Computational Design of Planar Multistable Compliant Structures
Open Access
- 8 October 2021
- journal article
- research article
- Published by Association for Computing Machinery (ACM) in ACM Transactions on Graphics
- Vol. 40 (5), 1-16
- https://doi.org/10.1145/3453477
Abstract
This article presents a method for designing planar multistable compliant structures. Given a sequence of desired stable states and the corresponding poses of the structure, we identify the topology and geometric realization of a mechanism—consisting of bars and joints—that is able to physically reproduce the desired multistable behavior. In order to solve this problem efficiently, we build on insights from minimally rigid graph theory to identify simple but effective topologies for the mechanism. We then optimize its geometric parameters, such as joint positions and bar lengths, to obtain correct transitions between the given poses. Simultaneously, we ensure adequate stability of each pose based on an effective approximate error metric related to the elastic energy Hessian of the bars in the mechanism. As demonstrated by our results, we obtain functional multistable mechanisms of manageable complexity that can be fabricated using 3D printing. Further, we evaluated the effectiveness of our method on a large number of examples in the simulation and fabricated several physical prototypes.Keywords
Funding Information
- European Union’s Horizon 2020 Research and Innovation Programme
- Marie Skłodowska-Curie (642841 (DISTRO))
- European Research Council (715767 (MATERIALIZABLE))
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