Robotics: Science and Systems V

Towards cyclic fabrication systems for modular robotics and rapid manufacturing

M. Moses, H. Yamaguchi and G. S. Chirikjian


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.



    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}