Multistable mechanisms 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 mechanism analysis is simplified by considering it as two submechanisms. The kinetostatics of CSMs have been formulated based on the pseudorigid-body method for compliant members at any combination of joints. The kinetostatic results show that a CSM is capable of exhibiting bistability, tristability, and quadristability. The type of behavior is found to depend on the initial (as-fabricated) position and the relative limit positions of the two submechanisms. Possible applications of multistable CSMs include deployable structures, static balancing of human/robot bodies, and weight compensators.
Multistable Behaviors of Compliant Sarrus Mechanisms
Xi'an Shaanxi 710071,
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the Journal of Mechanisms and Robotics. Manuscript received July 14, 2012; final manuscript received December 19, 2012; published online March 26, 2013. Assoc. Editor: Anupam Saxena.
- Views Icon Views
- Share Icon Share
- Cite Icon Cite
- Search Site
Chen, G., Zhang, S., and Li, G. (March 26, 2013). "Multistable Behaviors of Compliant Sarrus Mechanisms." ASME. J. Mechanisms Robotics. May 2013; 5(2): 021005. https://doi.org/10.1115/1.4023557
Download citation file:
- Ris (Zotero)
- Reference Manager