1. Modeling Using Template Collections
Current representation:
Current search method:
discrete search for closest template
continuous search for best parameters
Expansions to Robot design
template parameters that allow more complex geometry
discrete parameters
constraints that include 2D design
improve representation of articulation

2. Combining Templates User interface Inferring Connectivity Goals:
select components
alter template parameters
set position and orientation
Inferring Connectivity
Goals:
user-specified articulation
structural stability
Methods
inference
physical simulation

3. Scripted folded quadrotor design
Goal: Automatically generate robot design given functional description
Quadrotor(payload=10g, max_speed=1m/s, minimize: weight);
Outputs DXF file for laser cutter, STL file for 3d printer, bill of materials for actuators / controls
Current status: Python scripts generate structural elements by specifying geometry
Quadrotor(diameter=20cm, thickness=1cm, motor_diameter=1cm, …);
Parameterized dimensions, hardcoded topology
Research Plan:
Measure mechanical parameters of folded structural elements
Generate simple models relating critical parameters to geometry
Use models to determine required robot dimensions
Aside: partition overall design space between folding / 3d printing / etc.

4. Rigid Folded Structures
John Romanishin
Rigid Folded Structures
Attempt to develop a process to quickly create functional components by using a composite laminate of different 2-d laser cut layers.
Potential Benefits:
Quick to assemble
Electronic components have support
Clear distinction between flexible joints and rigid members
Current design attempts are trying to develop a rigid quad rotor frame.
Rigid layer is acrylic
Flexible layer is adhesive backed thin peek.
Functional details are added by simple FDM 3d printed components

5. Fabrication – Printable PCBs
Copper Laden Ink:
CO2 Laser (10um):
0.100in dia holes
Nd:YAG Laser (355nm):
0.050in dia holes
Thermal Transfer Printer:
Mechanical Punch:
0.040 & 0.125in dia holes

6. REACT Programming Paradigm & Language
Design
Programming Paradigm & Language
Designing and developing interactive systems
Simplified programming model
Facilitate event-driven and concurrent programming
Implementation
Source-to-source compilation framework (OCaml implementation)
Target languages:
Lego Mindstorms NQC
Foldable robot C-subset
Future Plans:
Code generation framework that provides:
Code free of common concurrency issues
Automatically propagates data updates to relevant clients, ensuring data consistency
Tool suite:
Testing and static analysis techniques for ensuring functional correctness

7. Printable Robots – Fabrication (Harvard/MIT)
Design Composition (gripper/crawler)
Crawler design evolution
Design Templates
Stair climbing
Printed robots playing chess
Self-folding inchworm robot

8. Current Results Next goal Develop platform and algorithms for climbing
Autonomous printed Hexapod
2-DOF legs
Variety of gaits
Tripod
Wave
Ripple
Rotating
Tripod with curvature
Next goal
Develop platform and algorithms for climbing

9. Mechanical Properties of Printable Processes
Goal:
To identify the mechanical properties of different materials and geometries.
Mechanical Properties to identify
Stiffness: Young’s Modulus
Shear Modulus
Strength: Yield Strength
Ultimate Tensile Strength
Materials
5 mil, 7 mil, & 10 mil polyester
PEEK
3D printed materials
Composites: Acrylic + polyester
Geometry
Triangular & Rectangular Beams
Different Perforations
Procedure
Instron Tension Test:
Measure Young’s Modulus, yield strength, and ultimate tensile in tension
Instron Torsion Test:
Measure shear modulus, yield strength, and ultimate tensile in torsion
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