1. Machines that Make machines Hod Lipson Mechanical & Aerospace Engineering Computing & Information Science Cornell University Computational Synthesis Lab http://ccsl.mae.cornell.edu Cornell University College of Engineering

2. The two meta-challenges of Engineering: 1.Design a machines that can design other machines 2.Make a machine that can make other machines

3. Machines that Design Machines Lipson & Pollack, Nature 406, 2000

4. Need more design space

5. FabLab in a box Fablabers are distinguished by disciplinary desegregation Lots of machines can make parts of other machines Is there a universal fabricator? –Top down approaches –Bottom up approaches

6. Printable Machines

7. The Universal Fabricator On a single machine Make arbitrary shapes / structure –preassembled mechanisms and parts Make arbitrary circuits –Sensing, processing, power and actuation Achieve large range of functionalities –Use large range of materials Increase design space –Afforded by co-fabrication

9. Analog vs. Digital Continuous paths Volume Fill High-resolution patterning, mixing Thin films (60nm)

10. Some of our printed electromechanical / biological components: (a) elastic joint (b) zinc-air battery (c) metal- alloy wires, (d) IPMC actuator, (e) polymer field-effect transistor, (f) thermoplastic and elastomer parts, (g) cartilage cell-seeded implant in shape of sheep meniscus from CT scan. Printed Active Materials With Evan Malone

11. Zinc-Air Batteries With Megan Berry

12. IPMC Actuators

13. Printed Agarose Meniscus Cell Impregnated Alginate Hydrogel CAT Scan Direct 3D Print after 20 min. Sterile Cartridge Multi-material 3D Printer With Larry Bonassar, Daniel Cohen

14. The Universal Fabricator: Parallel to the Universal Computer In the 60’s, a computer –Cost > $100,000 –Size: Refrigerator –Speed: Hours/job –Operation: Trained staff –Usability: Maintenance intensive Today: –Faster, cheaper, better, easier Digital PDP-11, 1969 Stratasys FDM Vantage, 2005

15. Exponential Growth Source: Wohlers Associates, 2004 report RP Machine Sales

16. Critical Mass The computer took off when it infiltrated the home market Solved the chicken and egg problem: –People were motivated to write software for their own needs because there was available hardware –People were motivated to buy hardware because there was software to run on it

17. The First Home Computer ALTAIR 8800 microcomputer kit (1975) –$397 (2MHz, 256 bytes RAM) Generally credited with launching the PC revolution

18. Fab@Home Low cost, hackable, fablabable, open source

20. Bottom-up Fabrication

21. Self-assembling machines Fukuda et al: CEBOT, 1988 Yim et al: PolyBot, 2000 Chiang and Chirikjian, 1993 Rus et al, 1998, 2001  Murata et al: Fracta, 1994  Murata et al, 2000  Jørgensen et al: ATRON, 2004  Zykov & Lipson, 2005 Modular Robotics: high complexity, do not scale in size Stochastic Systems: scale in size, limited complexity  Whitesides et al, 1998  Winfree et al, 1998

22. Dynamically Programmable Self Assembly

23. Construction Sequence High Pressure Low Pressure

24. Construction Sequence

29. Reconfiguration Sequence

31. Implementation 2 Inside of the cube: Servo- actuated valves Basic Stamp II controller Central fluid manifold Communicatio n, power transmission lines Embossed fluid manifold Hermaphroditic interface Orifices for fluid flow With Paul White, Victor Zykov

32. Implementation 2: Fluidic Bonding Movie accelerated x16 With Paul White, Victor Zykov

33. With David Erickson, Mike Tolley 300 µm

34. Conclusions Universal Designer Universal fabricator –Makes shapes, circuits, sensors, actuators, energy & information processing Top-down approach –Printable machines Bottom-Up approach –Dynamical self–assembly Computational Synthesis Lab http://ccsl.mae.cornell.edu Cornell University College of Engineering

35. Credits Viktor Zykov Evan Malone Mike Tolley Daniel Cohen Also: Paul White, David Erickson