Programmable structures are formed by autonomous and adaptive triangular cells.However,they are composed of a large number of parts,specifically bearings,which make them laborious to manufacture and expensive.An essential part of these programmable structures are six-bar linkages,which allow to build cells that can preserve the underlying geometry of a triangular mesh.A major improvement,which is the main part of this paper,is to replace the joints of the six-bar-linkage by a compliant mechanism,which allows to manufacture them as one 3D printable part.A multibody system formulation is setup with the model of the compliant mechanisms,treating every joint either ideal or compliant with the given stiffness parameters.The multi-body formulation furthermore allows to include friction as well as an actuator model in a straight-forward manner.The overall stiffness parameter of the real system is then identified from a comparison with an experimental setup of a real compliant triangular cell.Finally,the model is used to show the deviations of a medium-scaled programmable structure with respect to the idealized behavior.The present paper marks a relevant step towards the realization of larger programmable structures as well as the development of 3D programmable structures.
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