Towards cyclic fabrication systems for modular robotics and rapid manufacturing
Abstract
A cyclic fabrication system (CFS) is a network of materials, tools, and manufacturing processes that can produce all or most of its constituent components. This paper proposes an architecture for a robotic CFS based on modular components. The proposed system is intended to self-replicate via producing necessary components for replica devices. Some design challenges unique to self-replicating machines are discussed. Results from several proof-of-principle experiments are presented, including a manipulator designed to handle and assemble modules of the same type it is constructed from, a DC brush motor fabricated largely from raw materials, and basic manufacturing tools made with a simple CFS. Download: Bibtex: @INPROCEEDINGS{ Moses-RSS-09, AUTHOR = {M. Moses AND H. Yamaguchi AND G. S. Chirikjian}, TITLE = {Towards cyclic fabrication systems for modular robotics and rapid manufacturing}, BOOKTITLE = {Proceedings of Robotics: Science and Systems}, YEAR = {2009}, ADDRESS = {Seattle, USA}, MONTH = {June}, DOI = {10.15607/RSS.2009.V.016} }