Synthesis of compliant multistable mechanisms through use of a single bistable mechanism

A compliant multistable mechanism is capable of steadily staying at multiple distinct positions without power input. Many applications including switches, valves, relays, positioners, and reconfigurable robots may benefit from multistability. In this paper, two new approaches for synthesizing compliant multistable mechanisms are proposed, which enable designers to achieve multistability through the use of a single bistable mechanism. The synthesis approaches are described and illustrated by several design examples. Compound use of both approaches is also discussed. The design potential of the synthesis approaches is demonstrated by the successful operation of several instantiations of designs that exhibit three, four, five, and nine stable equilibrium positions, respectively. The equations for determining the actuation force required to move a multistable mechanism are provided. The synthesis approaches enable us to design a compliant mechanism with a desired number of stable positions.