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Multistability of Compliant Sarrus Mechanisms

[+] Author Affiliations
Guimin Chen, Shouyin Zhang

Xidian University, Xi’an, Shaanxi, China

Paper No. DETC2012-70238, pp. 169-179; 11 pages
  • ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B
  • Chicago, Illinois, USA, August 12–15, 2012
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4503-5
  • Copyright © 2012 by ASME


Although there are many examples of multistable compliant mechanisms in the literature, most of them are of planar configurations. Considering that a multistable mechanism providing spatial motion could be useful in numerous applications, this paper explores the multistable behavior of the overconstrained spatial Sarrus mechanisms with compliant joints (CSMs). The kinetostatics of CSMs have been formulated based on the pseudo-rigid-body method. The kinetostatic results show that a CSM is capable of exhibiting bistability, tristability, and quadristability. Possible applications of multistable CSMs include deployable structures, static balancing of human/robot bodies and weight compensators.

Copyright © 2012 by ASME



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