Modeling and Synthesis of Multi-Stable Equilibria Devices

这项研究提出了使用多稳态平衡装置作为一种自适应系统的概念。MSE系统是那些具有多个配置的系统，在该配置下，它们的势能最小，因此不需要功率来维持平衡位置。与使用压电体和形状记忆合金等活性材料的自适应结构不同，MSE系统的自适应状态是被动的，只需驱动即可在稳定状态之间移动。由于这种对能量系统的被动和非耗散方面的关注，MSE系统的影响是在工作范围、精度、可靠性和能源效率方面改善系统性能。这项研究的方法是为特定的工程任务综合MSE系统，例如设计在每个平衡位置具有特定稳定几何构型和/或固有频率的装置。虽然已经对一些双稳结构进行了一些分析，但这项研究的意义在于通过创建一种更一般的系统类别的综合方法而不是分析方法来深入了解MSE设计过程。MSE设备的一些应用领域包括单一工作点限制系统效率、执行器特性限制了大范围的适应性以及最大限度地减少耗散效应。当完全柔顺结构与磁致动相结合时，可以产生平滑的非线性系统，从而能够进行精确的建模。它们还具有超高的精度和重复性，由于无磨损操作，系统寿命长。当缩小到微系统领域时，这种系统也有几个优势。研究结果将对多状态精密机械系统、自适应换能器、被动人体增强系统和自适应结构的设计和分析产生广泛的影响。

This research addresses the concept of using multi-stable equilibria (MSE) devices as a type of adaptive system. MSE systems are those that have more than one configuration at which their potential energy is at a minimum such that no power is required to maintain the equilibrium position. As opposed to adaptive structures that use active materials such as piezoelectrics and shape memory alloys, the adaptive states of MSE systems are passive and need only actuation to move among the stable states. Because of this focus on passive and nondissipative aspects of energetic systems, the impact of MSE systems is in improving system performance in terms of operating range, accuracy, reliability, and energy efficiency. The approach of the research is to synthesize MSE systems for specific engineering tasks such as designing devices to have specific stable geometrical configurations and/or natural frequencies at each equilibrium position. Although some analysis has been done on a few bistable structures, the significance of this research is in providing insight into the MSE design process by creating a synthetic, rather than analytic, approach to a more general class of systems. Some areas of application for MSE devices are those in which single operating points limit system efficiency, actuator characteristics inhibit a large range of adaptability, and where the minimization of dissipative effects are important. Fully compliant structures when combined with magnetic actuation lead to smooth nonlinear systems, which are amenable to accurate modeling. They also possess ultra-high precision and repeatability, and long system life due to wear-free operation. Such systems also have several advantages when scaled down to the micro-systems domain. The results of the proposed research should have broad impact on design and analysis of multi-state precision mechanical systems, adaptive transducers, passive human augmentation systems, and adaptive structures.