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Programmable Constant-Force Multistable Mechanisms

[+] Author Affiliations
Mohamed Zanaty, Simon Henein

Ecole Polytechnique Fédérale de Lausanne (EPFL), Neuchâtel, Switzerland

Paper No. DETC2018-85248, pp. V05AT07A002; 10 pages
  • ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5A: 42nd Mechanisms and Robotics Conference
  • Quebec City, Quebec, Canada, August 26–29, 2018
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5180-7
  • Copyright © 2018 by ASME


Programmable multistable mechanisms exhibit stability behavior whereby the stiffness and the number of stable states can be controlled via programming inputs. In this paper, we report the zero stiffness behavior of a 2-degree of programming (DOP) T-combined, axially loaded double parallelogram multistable mechanism. We demonstrate zero force monostability, constant force monostability, zero force bistability, constant force bistability and zero force tristability behaviors by tuning the programming input. We derive analytically the reaction force of the mechanism for each configuration and verify our analytical results using numerical simulations and experimental measurements, showing less than 10% discrepancy. The concept of constant-force programming can be extended to N-DOP T-combined, serial combined and parallel combined programmable multistable mechanisms. Finally, we present potential applications of stability programming.

Copyright © 2018 by ASME



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