Massachusetts Institute of Technology

Amanda Ghassaei

Neil Adam Gershenfeld

William Kai Langford

A system of flexural, actuating, and semiconducting elements of part-types necessary to assemble actuated robotic systems. These parts are joined with a common interface, interlocking with neighboring parts to form a regular lattice structure. Primary considerations for the design of the part interfaces include ease of assembly and the ability to transfer mechanical loads and electronic signals to neighboring parts. The parts are designed to be assembled vertically so structures can he built incrementally one part at a time. They can be easily fabricated at a range of length-scales using a variety of two-dimensional manufacturing processes. These processes include, for example, stamping and laminating, which enable high-throughput production. The simple mechanical interfaces between parts also enable disassembly allowing for reconfigurability and reuse. The interlocking nature of these assemblies allows loads to be distributed through many parallel load-paths.

Hierarchical assembly of self-replicating spacecraft using distributed mechanisms and actuation in digital materials

A machine that is capable of assembling a copy of itself from a feedstock of parts is described. The machine operates on a lattice or grid on which it is able to move and from which it receives power and control signals. The machine (assembler) is composed of modules that each perform some functionality. In the simplest case, only three module types are needed: a linear step module, a gripper, and an anchor. The linear step module is capable of moving from one lattice location to the next, the gripper module is capable of gripping other modules, and the anchor module is capable of attaching the machine to the grid. With these three primitives it is possible for this simple machine to move on the grid using inchworm-like motions, pick up other modules, and assemble a copy of itself.

Self-assembling assemblers and manipulators built from a set of primitive blocks

A system and method for producing discretely assembled logic blocks where the logic block assemblies are a 3-dimensional representation of the normal digital design hierarchy. The blocks contain embedded logical functions that are built up from only a few basic 2-dimensional parts that are assembled into a 3-dimensional structure that realizes a particular logic or computing element. These structures can be combined to produce more complex digital structures and even processors. The two basic structural parts are a node and a strut with the strut typically including an embedded logic function. These are combined to produce spatially distributed structures.

Growing community of inventors

Cambridge, MA, United States of America

Amanda Ghassaei