Abstract
A desired energy landscape can achieve ease of actuation and precise actuation response for a morphing structure. This paper considers morphing structures consisting of (1) pin-jointed rigid bars and hinge-joined plates and (2) torsional and translational springs. A prescribed energy landscape during motion is targeted for such a structure through optimizing the spring parameters, i.e., spring rest positions and stiffness. The method proposed in this paper first analyzes the mechanism numerically and then solves for the spring parameters to yield an energy landscape closely matching the target. This general approach is applicable to complex structures where the analytical solution of kinematics is not available. Various examples are provided to demonstrate the design process and the effectiveness of the method.
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