An Asymmetrically-Bistable Monolithic Energy-Storing Structure

摘要

The concept of binary robotic systems, in which continuous adaptive behaviour is approximated by the motion of a large number of discrete bistable elements, has created the need for fully-actuated structural bistable elements to be designed and manufactured. This paper discusses potential actuator technologies that could be suitable for such a design, and covers in detail the development, analysis and testing of a jumping bistable device. It is demonstrated that the symmetry of the structure’s bistable behaviour has important implications for the selection of driving actuators. Additionally, it is shown that good predictions of the attained jump height, and hence the energy storage characteristics of the element may be made. The monolithic nature of the structure proposed is a distinct advantage over previous structures for integration into a binary robotic system.