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Bistable Structures Exhibiting Snap-Through

Instability: From Slap Bracelets to the Venus
Flytrap

Conference Paper · June 2012

DOI: 10.1115/SBC2012-80492

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Bio-Medical Materials and Engineering 24 (2014) 557–562 557
DOI 10.3233/BME-130842
IOS Press

Modeling Bistable behaviors in Morphing

Structures through Finite Element
Simulations
Qiaohang Guo a,b, Huang Zheng c, Wenzhe Chen a,d, and Zi Chen e,*
a
College of Materials Science and Engineering, Fuzhou University, Fuzhou, Fujian 350108, China,
b
Department of Mathematics and Physics,Fujian University of Technology, Fuzhou, Fujian 350108,
China
c
Fujian Radio and Television University, Fuzhou, Fujian 350003, China

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d
College of Materials Science and Engineering, Fujian University of Technology, Fuzhou, Fujian
350108, China
e
Department of Biomedical Engineering,Washington University, St. Louis 63130, USA
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Abstract. Bistable structures, exemplified by the Venus flytrap and slap bracelets, can transit between different configura-
tions upon certain external stimulation. Here we study, through three-dimensional finite element simulations, the bistable
behaviors in elastic plates in the absence of terminate loads, but with pre-strains in one (or both) of the two composite layers.
Both the scenarios with and without a given geometric mis-orientation angle are investigated, the results of which are consis-
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tent with recent theoretical and experimental studies. This work can open ample venues for programmable designs of
plant/shell structures with large deformations, with applications in designing bio-inspired robotics for biomedical research
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and morphing/deployable structures in aerospace engineering.

Keywords: Bistability, elasticity theory, finite element analysis, geometric nonlinearity, biomimetic structures
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1. Introduction
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Spontaneously curved structures are ubiquitous in natural and engineered systems [1-5]. Sometimes
these mechanical structures can exhibit more than one stable shape [2, 6-10]. For instance, the lobes of
the Venus flytrap (Dionaea) can be triggered to snap shut in less than a second to capture insects [1]. In
fact, multistable structures have important applications in micropumps, valves, deployable aerospace
structures [7], mechanical memory cells [9], artificial muscles, bioinspired robots [11], and energy har-
vesting devices [12].
There have been plenty of studies on elastic strips that deform under terminal loads, while relatively
limited efforts have been made to study large deformations of unloaded strips [1-4, 8- 10]. In particu-
lar, geometric nonlinearity has recently been shown to be critical in multi-stable structures [2, 10] fea-
turing more than one stable shape that arise in a variety of natural and engineered systems. Such struc-
tures have inspired design principles of deployable or smart actuation devices with multiple stable
shapes each functioning in their own regimes.

*Corresponding author. E-mail: chen.z@seas.wustl.edu. Q. Guo, H. Zheng and Z. Chen contributed equally.

0959-2989/14/$27.50 © 2014 – IOS Press and the authors. All rights reserved
558 Q. Guo et al. / Modeling bistable behaviors in morphing structures through finite element simulations

In this work, we investigate the bistable behaviors in plates without terminate loads, but with pre-
strains in one (or both) of the two composite layers. Full three-dimensional finite element models are
used to study the cases where the pre-strains come with or without a given geometric mis-orientation
angle. This work can promote programmable design and manufacturing of micro-/nano-scale mechani-
cal structures that can be employed as micro-robots [13, 14].

2. Elasticity Theory

A theoretical model based on linear elasticity theory and stationarity principles is employed [12],
where both the bending and stretching are taken into account as well as geometric nonlinearity. In
comparison to the previous work [10], where the deformed shape was assumed to be like a torus to
gain insights, no assumptions about the deformed shape are made in this paper. The total potential
1
energy density per unit area of the ribbon is ∏ = ∫ −HH1 1 ( γ : C : γ )dz , where C is the fourth-order
2
elastic constant tensor. The strain tensor ( γ ) ψis obtained by superimposing elastic bending strains

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( γ b ), an in-plane uniform “membrane” strain ( γ m ), internal residual strains ( γ 0 ), and strains along
the direction perpendicular to the ribbon plane ( γ z ): O
γ = γb +γm +γz +γ0 (1)
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where
γ b = zk1r1 ⊗ r1 + zk 2 r2 ⊗ r2
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γ m = ε xx d x ⊗ d x + ε xy (d x ⊗ d y + d y ⊗ d x ) + ε yy d y ⊗ d y
γ z = (ε zz + qz )d z ⊗ d z
(2)
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γ 0 = γ xx0 d x ⊗ d x + γ xy0 (d x ⊗ d y + d y ⊗ d x ) + γ yy0 d y ⊗ d y + γ zz0 d z ⊗ d z

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The strain tensor can also be written as

γ = γ ij d i ⊗ d j
(3)
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When the principal axes of the pre-strains form an angle, ϕ, with the geometric axes, the components
will take the form
γ xx =ε xx+ z (k1 cos2 φ + k2 sin 2 φ ) + γ xx0 ( z )
γ xy = γ yx = ε xy + z (k2 − k1 ) sin φ cosφ + γ xy0 ( z ) (4)
γ yy = ε yy + z (k1 sin 2 φ + k2 cos2 φ ) + γ yy
0
( z)
γ zz = ε zz + qz + γ zz0 ( z )

3. Modeling Bistable Morphing Structures with Finite Element Simulations

The COMSOL finite element model presented in this work is a full three-dimensional model using
the structural mechanics module in Comsol Multiphysics (V4.0). This model is employed to demon-
 Q. Guo et al. / Modeling bistable behaviors in morphing structures through finite element simulations 559

strate that three-dimensional structures can be created due to misfit strains in a bilayer or multilayer
strip such as in strained semiconductor helical nanoribbons [6] or pre-strained macroscopic helical
ribbons [2-4]. More importantly, there could exist more than one stable configuration each of which
can function in its own region. The bistable structures modeled in this work have been achieved in
some of the recent theoretical and experimental work by Armon et al. [2] and Chen et al. [10].
In this model, the existence of uniform misfit strains between the two layers of the elastic strip is
taken into consideration. Specifically, we prescribe two pre-strain tensors that reside in both layers to
simulate this (See Fig. 1). Generally speaking, the principal axes of the pre-strains do not need to line
up with the geometric axes of the ribbon, so there is a mis-orientation angle, θ , between those two axis
systems. The mechanical properties of the materials are assumed to be isotropic and linear elastic. For
simplicity of the treatment, we take the Young’s modulus to be 1, with both Poisson’s ratio and densi-
ty being zero, since no inertia effects are taken into account in this quasi-static study. It will be
straightforward to include Poisson’s effect when it is necessary.

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Fig. 1. Geometry of a bilayer ribbon simulated in an undeformed configuration.

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Fig. 2. Two stable configurations of the bistable plate (right panel) simulated by finite element method. The misfit strain in
the top layer is ε t = ε 0 ( e1 ⊗ e1 + e 2 ⊗ e 2 + e1 ⊗ e 2 + e 2 ⊗ e1 ) ,where ε 0 = 0 . 027 , while the misfit strain in the bot-
tom layer is ε b = ε 0 ( e1 ⊗ e1 − e 2 ⊗ e 2 − e1 ⊗ e 2 + e 2 ⊗ e1 ) .Left panel: geometric meshes (tetrahedral) for a bilayer
ribbon in Comsol Multiphysics V4.0. The mesh size is Normal.
560 Q. Guo et al. / Modeling bistable behaviors in morphing structures through finite element simulations

Here we show that bistable behaviors in morphing structures can be simulated using finite element
methods. Finite element simulations (Comsol multiphysics V4.0) are employed to gain important un-
derstanding on bistability in shell structures, as previously addressed theoretically [2,10].

4. Results and Discussions

Here we first study the spontaneous bending of a bilayer square strip of total thick-
ness H 1 = H 2 = 0 .001 m , width w = 0.05m and length L = 0.05m with certain pre-strains. For example,
when the mis-orientation angle is 45 degrees, the misfit strain tensor in the bottom layer and top layer
are ε b = ε 0 ( e1 ⊗ e1 − e 2 ⊗ e 2 − e1 ⊗ e 2 + e 2 ⊗ e1 ) , and ε t = ε 0 ( e1 ⊗ e1 + e 2 ⊗ e 2 + e1 ⊗ e 2 + e 2 ⊗ e1 ) , respec-
tively, where ε 0 = 0 .03 .
The bilayer strip will deform into one of the two configurations as shown in Figs. 2, in the presence
of the prescribed pre-strains which are anisotropic in nature. Due to geometric nonlinearity, the strip

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exhibits bistability when the dimensionless parameter, η ≈ W κ / H ≈ 5 .6 >> 1 , which is analogous to
those physical models developed in Refs [2, 10] and consistent with the previous theoretical predic-
tions. Typically, it takes some work to overcome the energy barrier to go from one stable shape to the
other. In this model, different boundary conditions are applied to simulate that process. For example,
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in the simulation shown in Fig. 2 (left panel), the small rectangular surface near the bottom-right cor-
ner is constrained to induce the system to bifurcate into one of the stable states, while in the simulation
C
result shown in Fig. 2 (right panel), a small surface element near the bottom-left corner is constrained
not to displace. The bistable behaviors modeled here are similar, in mechanical nature, to the physical
models presented in Refs. [2,10].
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Next, we study the spontaneous bending of a bilayer rectangular strip of total thickness
H 1 = H 2 = 0 .005 m , width w = 0.1m and length L = 0.3m with prescribed pre-strains in both layers
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such that the misfit strain tensor in the bottom layer and top layer are ε b = ε 0 e1 ⊗ e1 , and ε t = ε 0 e 2 ⊗ e 2 ,
respectively, where ε 0 = 0 .06 . Here again we assign Young’s modulus to be 1, but with a non-zero
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Poisson’s ratio (ν = 0 .3 ) to show that our models can naturally handle the general cases where Pois-
son’s ratio is nonzero. From the simulation result, we see that a purely bent ring shape is obtained
when the geometric mis-orientation angle is zero (Fig. 3, right panel). In comparison, while there are
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some mechanical constraints, for example, a narrow region on the bottom surface is constrained not to
deflect, then a second, metastable configuration forms. To validate our simulation results, the bistable
behaviors in toy slap bracelets are examined, as shown in Fig. 4. it is noticed that those two locally
stable states predicted by our FEM simulations are analogous to the bistable behaviors in toy slap
bracelets. For example, the ring-like shape shown in Fig. 3 (right panel) would correspond to the ring
structures in the right panel of Fig. 4, while the relatively straight configuration in the left panel in
Fig. 3 with curved edges is similar in nature to those in the left panel of Fig. 4. Also, our simulation
results are qualitatively consistent with the previous theoretical and experimental results obtained by
Chen et al. [10].
It is worthwhile to point out that although the finite element simulations performed here are on ma-
croscopic objects, the working mechanical principles do not depend on the scales (unless nanoscale
effects become significant). In addition, the pre-strains in this model are used as the main driving
forces for spontaneous large formations, but similar (of course not identical) morphogenesis processes
could take place in the presence of other mechanisms, e.g., swelling and/or dehydration [2], differen-
 Q. Guo et al. / Modeling bistable behaviors in morphing structures through finite element simulations 561

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Fig. 3. Two stable, doubly bent configurations driven by misfit strains in a bilayer ribbon simulated by finite element method.
The misfit strain in the top layer is ε t = ε 0 e1 ⊗ e1 ,where ε 0 = 0 .06 , while the misfit strain in the top layer is
ε t = ε 0 e2 ⊗ e2 .
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Fig. 4. The two locally stable, bent shapes of slap bracelets made of stainless steel.
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tial growth [16] and surface stresses [3,10]. Moreover, it is of immediate interest to apply this metho-
dology to study the multistable helical structures that arises due to pre-strains or misfit strains, and
with both geometric mis-orientation and nonliearity. It is also possible that such geometric nonlineari-
ty contributed to the anomalous coiling behaviors in semiconductor nanobelts [15].
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5. Conclusions

In this work, we presented finite element simulations on the bistable behaviors in multi-layer struc-
tures with prescribed pre-strains. We have studied, though full three-dimensional finite-element simu-
lations, both the case where there is geometric mis-orientation between the principal axes of pre-
strains and the geometric axes, and the case where there is no mis-orientation. Two locally stable
states were observed in both studies, qualitatively consistent with recent experiments and theoretical
modeling results. This work complements the recent theoretical and experimental studies on bistable
structures, and will open new venues for programmable design of plant/shell structures with large de-
formations through strain engineering, which have broad applications in NEMS (nano-electro-
mechanical systems), biological/chemical sensing, bio-inspired robotics, as well as in aerospace engi-
neering (e.g., morphing structures).
 562 Q. Guo et al. / Modeling bistable behaviors in morphing structures through finite element simulations

6. Acknowledgement

This work is in part supported by National Natural Science Foundation of China (NSFC Grant
No.11102040), Projects of International Cooperation and Exchanges NSFC (Grant No.11201001044),
Foundation of Fujian Educational Committee (Grant No.JA12238), American Academy of Mechanics
Founder's Award from the Robert M. and Mary Haythornthwaite Foundation, and Society in Science,
The Branco Weiss Fellowship, administered by ETH Zurich (Z.C.). Z. C. thanks Dr. Larry A. Taber
for helpful discussions.

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