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research-article

Experimental Characterization of a T-shaped Programmable Multistable Mechanism

[+] Author and Article Information
Mohamed Zanaty

Instant-Lab, Institute of Microengineering, Ecole Polytechnique Fédérale de Lausanne, EPFL, Neuchâtel, 2000 Switzerland
mohamed.zanaty@epfl.ch

Simon Henein

Instant-Lab, Institute of Microengineering, EPFL, Neuchâtel, 2000 Switzerland
simon.henein@epfl.ch

1Corresponding author.

ASME doi:10.1115/1.4040173 History: Received January 04, 2018; Revised April 06, 2018

Abstract

Programmable multistable mechanisms exhibit a modifiable stability behavior in which the number of stable states, stiffness and reaction force characteristics are controlled via their programming inputs. In this paper, we present experimental characterization for the concept of stability programming introduced in our previous work [1]. A prototype of the T-combined axially loaded double parallelogram mechanisms with rectangular hinges is manufactured using electro-discharge machining. An analytical model based on Euler-Bernoulli equations of the T-mechanism is derived from which the stability behavior is extracted. Numerical simulations and experimental measurements are conducted on programming the mechanism as monostable, bistable, tristable and quadrastable, and show good agreement with our analytical derivations within 10%.

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