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It is well-known that there exist rigid frameworks whose physical models cansnap between different realizations due to non-destructive elastic deformationsof material. We present a method to measure this snapping capability based onthe total elastic strain energy density of the framework by using the physicalconcept of Green-Lagrange strain. As this so-called snappability only dependson the intrinsic framework geometry, it enables a fair comparison ofpin-jointed body-bar frameworks, thus it can serve engineers as a criterionwithin the design process of multistable mechanisms. Moreover, it turns outthat the value obtained from this intrinsic pseudometric also gives thedistance to the closest shaky configuration in the case of isostaticframeworks. Therefore it is suited for the computation of thesesingularity-distances for diverse mechanical devices. In more detail we studythis problem for parallel manipulators of Stewart-Gough type.

Snappability and singularity-distance of pin-jointed body-bar frameworks