An architecture for universal construction via modular robotic components |
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| Affiliation: | 1. Johns Hopkins University Applied Physics Laboratory, Laurel, MD, USA;2. Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA;1. Instituto de Plasmas e Fusão Nuclear, Instituto Superior Técnico, Universidade de Lisboa, Av. Rovisco Pais 1, 1049-001 Lisboa, Portugal;2. Automotive Engineering, 1 Rue Galvani, Bâtiment C 91300, Massy, France;3. Laboratório de Robótica e Sistemas em Engenharia e Ciência, Instituto Superior Técnico, Universidade de Lisboa, Av. Rovisco Pais 1, 1049-001 Lisboa, Portugal;1. University of Nebraska—Omaha, Computer Science Department, Omaha, NE 68182, USA;2. University of Nebraska—Lincoln, Department of Mechanical and Materials Engineering, Lincoln, NE 68588, USA;1. IT University of Copenhagen, Denmark;2. Integrated Group for Engineering Research, Universidade da Coruña, Spain |
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| Abstract: | A set of modular components is presented for use in reconfigurable robotic construction systems. The set includes passive and active components. The passive components can be formed into static structures and adaptable grids carrying electrical power and signals. Passive and active components can be combined into general purpose mobile manipulators which are able to augment and reconfigure the grid, construct new manipulators, and potentially perform general purpose fabrication tasks such as additive manufacturing. The components themselves are designed for low-cost, simple fabrication methods and could potentially be fabricated by constructors made of the same components. This work represents a step toward a Cyclic Fabrication System, a network of materials, tools, and manufacturing processes that can produce all of its constituent components. These and similar systems have been proposed for a wide range of far-term applications, including space-based manufacturing, construction of large-scale industrial facilities, and also for driving development of low-cost 3D printing machines. |
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| Keywords: | Robotic construction Modular robotics Assembly automation 3D printing Rapid prototyping Flexible manufacturing |
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