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.

翻译：我们开发了一种自动化的计算建模框架，用于基于梯度的快速设计由非相同双稳态单元组成的多稳态软体机械结构，并对其几何参数进行合理设定。该框架包含一个基于等几何分析的自定义连续介质力学求解器，其具有鲁棒性和端到端可微性，从而能够通过几何与材料优化实现目标多稳态模式。我们将此数值建模方法应用于二维场景，设计了多种多稳态结构，并考虑了多种几何与材料约束。该框架与实验结果表现出高度一致性，并在多稳态设计方面展现出稳健性能，为高精度、高可靠性的软体执行器设计提供了有力支撑。