This article presents a novel bistable structural element that has high stiffness in stable configurations, but requires only a small amount of energy to be switched from one configuration to the other. The element is based on a planar linkage of four bars connected by revolute joints, braced by tape-spring diagonals. A description of the concept is presented, along with a detailed theoretical analysis of its mechanical behaviour. Experimental measurements obtained from a prototype structure are found to be in very good agreement with the predictions from this analytical model.
PieperD. L.The kinematics of manipulators under computer control. PhD Thesis, Stanford University, 1968.
8.
ChirikjianG. S.A binary paradigm for robotic manipulators. In Proceedings of the IEEE International Conference on Robotics and Automation, 1994, vol. 4, pp. 3063–3069.
LeesD.ChirikjianG. S.A combinatorial approach to trajectory planning for binary manipulators. In Proceedings of the IEEE International Conference on Robotics and Automation, April 1996, vol. 3, pp. 2749–2754.
11.
LichterM.Concept development for lightweight binary-actuated robotic devices, with application to space systems. Master's Thesis, Massachusetts Institute of Technology, 2001.
12.
WingertA.LichterM.DubowskyS.HafezM.Hyper-redundant robot manipulators actuated by optimized binary dielectric polymers. Proc. SPIE, 2002, 4695, 415–423.
13.
StuhakornJ.ChirikjianG. S.A new inverse kinematics algorithm for binary manipulators with many actuators. Adv. Robot., 2001, 15(2), 225–244.
14.
PlanteJ.-S.SanterM. J.DubowskyS.PellegrinoS.Compliant bistable dielectric elastomer actuators for binary mechatronic systems. In Proceedings of the IDECT/CIE 2005: ASME Mechanism and Robotics Conference, Long Beach, CA, 24–28 September 2005 (ASME).
15.
SeffenK. A.PellegrinoS.Deployment dynamics of tape springs. Proc. R. Soc. Lond. Ser. A, 1999, 455 (1983), 1003–1048.
16.
CalladineC. R.The theory of thin shell structures 1888–1988. Proc. Instn Mech. Engrs, 1988, 202, 1–9.
17.
WattA.Deployable structures with self-locking hinges. PhD Thesis, Cambridge University, 2003.
18.
AllenH. G.BulsonP. S.Background to buckling, 1980 (McGraw-Hill, London).
19.
TimoshenkoS. P.GereJ. H.Theory of elastic stability, 1961 (McGraw-Hill, New York).
20.
BazantZ. P.CedolinL.Stability of structures, 1991 (Oxford University Press, Oxford).
21.
TresP. A.Designing plastic parts for assembly, 2000 (Hanser Gardner Publications, Cincinnati).
