多稳态机构/结构研究进展

doi:10.3901/JME.2025.21.018

摘要/Abstract

摘要： 多稳态特性是一种特殊的非线性力学现象。当一个系统具有多稳态特性，则意味着它存在多个稳定平衡态(能量取得局部极小值的状态)，在这些状态下，即使受到外界小的扰动系统也能够在无能量输入条件下实现状态自保持。多稳态可表现出丰富多样的力学特性/行为，如负刚度、自平衡、抗扰动等，在航空航天、智能机器人、生物医学等领域逐渐展现出巨大的应用价值，近年来吸引了大量的研究人员。回顾了这些年多稳态机构与结构的典型研究成果：首先从柔顺机构、折纸结构、剪纸结构、软材料以及张拉整体结构等五个方面总结了不同多稳态设计的机构/结构原理、构型特征和设计方法；然后，对多稳态机构/结构在多种应用场景下的典型应用进行归纳介绍；最后对未来多稳态机构/结构的发展趋势进行了展望，旨在为多稳态机构/结构的设计提升与应用拓宽提供新的思路。

关键词: 多稳态, 柔顺机构, 折纸/剪纸, 超材料, 机器人

Abstract: Multistable characteristics represent a unique nonlinear mechanical phenomenon. When a system exhibits multistable characteristic, it means that there are multiple stable equilibrium states (states where the energy reaches a local minimum). In these states, even if the system is subjected to small external disturbances, it can maintain its state by itself without energy input. Multistability can exhibit a variety of mechanical characteristics/behaviors, such as negative stiffness, self-balancing, and disturbance resistance, etc. It has gradually shown great application value in fields such as aerospace, smart robot, and biomedicine, and has attracted a large number of researchers in recent years. This research reviews the typical research achievements on multistable mechanisms and structures in recent years. First, the principles, configurations, and design methods of different multistable mechanisms/structures are summarized from the aspects of compliant mechanisms, origami structures, kirigami structures, soft materials, and tensegrity structures; Then, the typical applications of multistable mechanisms/structures in various application scenarios are introduced; Finally, it offers insights into future development trends, aiming to provide new perspectives for enhancing the design and application of multistable mechanisms and structures.

Key words: multistability, compliant mechanism, origami/kirigami, metamaterial, robot

中图分类号:

TH122

李博, 尹彦琦, 吴业辉, 张毅, 马付雷, 白瑞玉, 姚家强, 陈贵敏. 多稳态机构/结构研究进展[J]. 机械工程学报, 2025, 61(21): 18-37.

LI Bo, YIN Yanqi, WU Yehui, ZHANG Yi, MA Fulei, BAI Ruiyu, YAO Jiaqiang, CHEN Guimin. Research Progress of Multistable Mechanisms/Structures[J]. Journal of Mechanical Engineering, 2025, 61(21): 18-37.

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