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We develop an automated computational modeling framework for rapidgradient-based design of multistable soft mechanical structures composed ofnon-identical bistable unit cells with appropriate geometric parameterization.This framework includes a custom isogeometric analysis-based continuummechanics solver that is robust and end-to-end differentiable, which enablesgeometric and material optimization to achieve a desired multistabilitypattern. We apply this numerical modeling approach in two dimensions to designa variety of multistable structures, accounting for various geometric andmaterial constraints. Our framework demonstrates consistent agreement withexperimental results, and robust performance in designing for multistability,which facilities soft actuator design with high precision and reliability.

A rapid and automated computational approach to the design of multistable soft actuators