--- res: bibo_abstract: - This paper presents a method for designing planar multistable compliant structures. Given a sequence of desired stable states and the corresponding poses of the structure, we identify the topology and geometric realization of a mechanism—consisting of bars and joints—that is able to physically reproduce the desired multistable behavior. In order to solve this problem efficiently, we build on insights from minimally rigid graph theory to identify simple but effective topologies for the mechanism. We then optimize its geometric parameters, such as joint positions and bar lengths, to obtain correct transitions between the given poses. Simultaneously, we ensure adequate stability of each pose based on an effective approximate error metric related to the elastic energy Hessian of the bars in the mechanism. As demonstrated by our results, we obtain functional multistable mechanisms of manageable complexity that can be fabricated using 3D printing. Further, we evaluated the effectiveness of our method on a large number of examples in the simulation and fabricated several physical prototypes.@eng bibo_authorlist: - foaf_Person: foaf_givenName: Ran foaf_name: Zhang, Ran foaf_surname: Zhang foaf_workInfoHomepage: http://www.librecat.org/personId=4DDBCEB0-F248-11E8-B48F-1D18A9856A87 orcid: 0000-0002-3808-281X - foaf_Person: foaf_givenName: Thomas foaf_name: Auzinger, Thomas foaf_surname: Auzinger foaf_workInfoHomepage: http://www.librecat.org/personId=4718F954-F248-11E8-B48F-1D18A9856A87 orcid: 0000-0002-1546-3265 - foaf_Person: foaf_givenName: Bernd foaf_name: Bickel, Bernd foaf_surname: Bickel foaf_workInfoHomepage: http://www.librecat.org/personId=49876194-F248-11E8-B48F-1D18A9856A87 orcid: 0000-0001-6511-9385 bibo_doi: 10.1145/3453477 bibo_issue: '5' bibo_volume: 40 dct_date: 2021^xs_gYear dct_identifier: - UT:000752079300003 dct_isPartOf: - http://id.crossref.org/issn/0730-0301 - http://id.crossref.org/issn/1557-7368 dct_language: eng dct_publisher: Association for Computing Machinery@ dct_subject: - multistability - mechanism - computational design - rigidity dct_title: Computational design of planar multistable compliant structures@ ...