A rapid and automated computational approach to the design of multistable soft actuators

TL;DR

This paper introduces an automated computational framework that rapidly designs multistable soft actuators using gradient-based optimization and a custom isogeometric analysis solver, achieving high precision and experimental consistency.

Contribution

The paper presents a novel end-to-end differentiable modeling framework for the design of multistable soft structures, integrating geometric parameterization and optimization.

Findings

Framework achieves consistent agreement with experiments.

Designs exhibit robust multistability performance.

Enables rapid, precise soft actuator development.

Abstract

We develop an automated computational modeling framework for rapid gradient-based design of multistable soft mechanical structures composed of non-identical bistable unit cells with appropriate geometric parameterization. This framework includes a custom isogeometric analysis-based continuum mechanics solver that is robust and end-to-end differentiable, which enables geometric and material optimization to achieve a desired multistability pattern. We apply this numerical modeling approach in two dimensions to design a variety of multistable structures, accounting for various geometric and material constraints. Our framework demonstrates consistent agreement with experimental results, and robust performance in designing for multistability, which facilities soft actuator design with high precision and reliability.