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工程设计学报
Chinese Journal of Engineering Design  2025, Vol. 32 Issue (2): 191-198    DOI: 10.3785/j.issn.1006-754X.2025.04.149
Robotic and Mechanism Design     
Design and analysis of spatial parallel multi-stable mechanism
Baokun LI1,2(),Lin LI1(),Wei ZHAO1,Zhenyu TAO1
1.School of Mechanical and Electrical Engineering, Anhui University of Technology, Huainan 232001, China
2.Guangxi Key Laboratory of Manufacturing Systems and Advanced Manufacturing Technology, Guilin 541004, China
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Abstract  

Spatial parallel multi-stable mechanism (SPMM) is a mechanism that can switch to different stable equilibrium states under external forces. It is a combination of traditional spatial rigid parallel mechanisms and compliant mechanisms, which is more stable and can save energy. The 6-DOF 3-PSPS SPMM with eight kinds of steady-state configurations was innovatively designed by using the rigid body substitution method. By moving three branches, eight kinds of steady-state configurations of the mechanism could be switched. Firstly, the SPMM structure was analyzed, the mechanism statics analysis was carried out, the energy-kinematic differential equation was established to determine the steady-state of the mechanism, and the energy diagram of the mechanism's motion process was obtained by MATLAB software. Secondly, using the energy method based on Lagrange-Dirichlet principle, eight steady-state configurations of the mechanism were determined, and the switching paths between the steady-state configurations were analyzed. Finally, the 3D printed SPMM model was used for experimental verification. The SPMM can realize steady-state configuration control and can be widely used in the design of motion platform and buffer mechanism.

Key words： flexible mechanism      spatial parallel multi-stable mechanism      steady-state      energy-kinematic differential equation     
Received: 27 June 2024      Published: 06 May 2025
CLC:  TH 112  
Corresponding Authors: Lin LI     E-mail: libkmail@126.com;1786101759@qq.com
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Baokun LI
Lin LI
Wei ZHAO
Zhenyu TAO
Cite this article:

Baokun LI,Lin LI,Wei ZHAO,Zhenyu TAO. Design and analysis of spatial parallel multi-stable mechanism. Chinese Journal of Engineering Design, 2025, 32(2): 191-198.

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https://www.zjujournals.com/gcsjxb/10.3785/j.issn.1006-754X.2025.04.149     OR     https://www.zjujournals.com/gcsjxb/Y2025/V32/I2/191


空间并联多稳态机构的设计与分析

空间并联多稳态机构（spatial parallel multi-stable mechanism, SPMM）指在外力作用下能切换为不同稳定平衡状态的机构，是传统空间刚性并联机构与柔顺机构的结合，更稳定并能节约能量。采用刚体置换方法创新设计了具有8种稳态位形的六自由度3-PSPS SPMM，通过移动3个分支能实现机构8种稳态位形之间的切换。首先，分析了SPMM结构，对机构进行静力学分析，建立了能量-运动学微分方程来确定机构稳态，并采用MATLAB软件得到了机构运动过程的能量图；其次，利用基于Lagrange-Dirichlet原理的能量法，确定了机构的8种稳态位形，分析了运动过程中稳态位形之间的切换路径；最后，采用3D打印的SPMM模型，进行了实验验证。所研究的SPMM能实现稳态位形可控，能广泛应用于运动平台和缓冲机构的设计中。


关键词： 柔顺机构,  空间并联多稳态机构,  稳态,  能量-运动学微分方程方程 
Fig.1 Structure of SPMM
Fig.2 SPMM potential energy variation curve with only one branch movement
Fig.3 θ2 variation curve during movement of mechanism
Fig.4 SPMM potential energy variation with branch 2, 3 simultaneous movement and branch 1 in initial position
Fig.5 SPMM steady-state configurations with branch 2, 3 simultaneous movement and d1=0
Fig.6 SPMM potential energy variation surfaces with branch 2, 3 simultaneous movement and branch 1 in different positions
Fig.7 SPMM steady-state configurations with branch 2, 3 simultaneous movement and d1=306.767 mm
Fig.8 SPMM steady-state configuration switching path with only one branch movement
Fig.9 SPMM steady-state configuration switching path with two branches simultaneous movement
Fig.10 Partial steady-state configurations of SPMM 3D model
Fig.11 Locked state of mechanism with three branches simultaneous movement
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