Graduation Year


Document Type




Degree Name

Doctor of Philosophy (Ph.D.)

Degree Granting Department

Mechanical Engineering

Major Professor

Craig Lusk, Ph.D.

Committee Member

Kyle Reed, Ph.D.

Committee Member

Rasim Guldiken, Ph.D.

Committee Member

Andrés E. Tejada-Martínez, Ph.D.

Committee Member

Jiangfeng Zhou, Ph.D.


CAD, Kinematics, Kinetics, Stable Configurations, Synthesis


This dissertation presents a design concept for shape-morphing structures that have two stable configurations. The design concept defines the methodology of transforming a planar structural shape into spatial structural shape using bistable compliant mechanisms. Bistable complaint mechanisms are used to achieve structural stable configurations. The dissertation incorporating geometrical relationships for the mechanisms that form the primary structure described in step-by-step process. This dissertation implements the design layouts for designer to creating shape-morphing structures including origami. The novel contribution of the work is classified in three models. The first model presents a methodology to induce bistability behavior into an origami reverse fold and partially spherical compliant mechanism. The second model presents the design and development of a bistable triangle-shaped compliant mechanism with motion limits and dwell behavior at the two stable configurations. This mechanism can be arrayed to create shape-morphing structures. The third model presents a design and development for a collapsible bistable compliant mechanism used for a shape morphing lamina-emergent frustum. Finally, physical prototypes of all models are presented as proof of concept.