Logic matter : digital logic as heuristics for physical self-guided-assembly

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Architecture; and, (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2010.Cataloged from PDF version of thesis.Includes bibliographical references (p. 123-124).Given the increasing complexity of the physical structures surrounding our everyday environment -- buildings, machines, computers and almost every other physical object that humans interact with -- the processes of assembling these complex structures are inevitably caught in a battle of time, complexity and human/machine processing power. If we are to keep up with this exponential growth in construction complexity we need to develop automated assembly logic embedded within our material parts to aid in construction. In this thesis I introduce Logic Matter as a system of passive mechanical digital logic modules for self-guided-assembly of large-scale structures. As opposed to current systems in self-reconfigurable robotics, Logic Matter introduces scalability, robustness, redundancy and local heuristics to achieve passive assembly. I propose a mechanical module that implements digital NAND logic as an effective tool for encoding local and global assembly sequences. I then show a physical prototype that successfully demonstrates the described mechanics, encoded information and passive self-guided-assembly. Finally, I show exciting potentials of Logic Matter as a new system of computing with applications in space/volume filling, surface construction, and 3D circuit assembly.by Skylar J.E. Tibbits.S.M

Active Printed Materials for Complex Self-Evolving Deformations

We propose a new design of complex self-evolving structures that vary over time due to environmental interaction. In conventional 3D printing systems, materials are meant to be stable rather than active and fabricated models are designed and printed as static objects. Here, we introduce a novel approach for simulating and fabricating self-evolving structures that transform into a predetermined shape, changing property and function after fabrication. The new locally coordinated bending primitives combine into a single system, allowing for a global deformation which can stretch, fold and bend given environmental stimulus

Organ printing as an information technology

Funding Information: This work has been sponsored by the São Paulo Research Foundation (FAPESP), The Brazilian Institute of Biofabrication (INCT-BIOFABRIS) and National Council for Scientific and Technological Development (CNPq). Publisher Copyright: © 2015 Published by Elsevier Ltd.Organ printing is defined as a layer by layer additive robotic computer-aided biofabrication of functional 3D organ constructs with using self-assembling tissue spheroids according to digital model. Information technology and computer-aided design softwares are instrumental in the transformation of virtual 3D bioimaging information about human tissue and organs into living biological reality during 3D bioprinting. Information technology enables design blueprints for bioprinting of human organs as well as predictive computer simulation both printing and post-printing processes. 3D bioprinting is now considered as an emerging information technology and the effective application of existing information technology tools and development of new technological platforms such as human tissue and organ informatics, design automation, virtual human organs, virtual organ biofabrication line, mathematical modeling and predictive computer simulations of bioprinted tissue fusion and maturation is an important technological imperative for advancing organ bioprinting.publishersversionPeer reviewe

Design and Computational Modeling of a 3D Printed Pneumatic Toolkit for Soft Robotics

Soft and compliant robotic systems have the potential to interact with humans and complex environments in more sophisticated ways than rigid robots. The majority of the state-of-the art soft robots are fabricated with silicone casting. This method is able to produce robust robotic parts, yet its results are difficult to quantify and replicate. Silicone casting also limits design complexity as well as customization due to the need to make new molds. As a result, most designs are tailored for simple, individual tasks, that is, bending, gripping, and crawling. To address more complex engineering challenges, this work presents soft robots that are fabricated by using multi-material three-dimensional printing. Instead of monolithic designs, we propose a pneumatic modular toolkit consisting of a bending and an extending appendage, as well as rigid building blocks. They are assembled to achieve different tasks. We show that the performance of both appendages is (1) repeatable, that is, the same internal pressure results in the same rotation or extension across multiple specimens and repetitions, and (2) predictable, that is, the respective deformations can be modeled by using finite element analysis. Using multiple instances of both building blocks, we demonstrate the versatility of this toolkit by assembling and actuating a gripper and a crawling caterpillar. The reliability of the mechanics of the building blocks and the assembled robots show that this simple toolkit can serve as a basis for the next generation of soft robots

4D Soft Material Systems

AbstractThis work introduces multi-material liquid printing as an enabling technology for designing programmed shape-shifting silicones. The goal of this research is to provide a readily available, scalable and customized approach at producing responsive 4D printed structures for a wide range of applications. Hence, the methodology allows customization at each step of the procedure by intervening either on the material composition and/or on the design and fabrication strategies for the production of responsive components. A significant endeavour is initiated to develop and engineer two different material systems that enable shape-shifting: silicone-ethanol composites and polyvinyl siloxane swelling rubbers. The printed samples successfully comply with the expected swelling behaviour through a variety of printed test patterns.</jats:p

Jammed architectural structures: towards large-scale reversible construction

This paper takes a first step in characterizing a novel field of research-jammed architectural structures-where load-bearing architectural structures are automatically aggregated from bulk material. Initiated by the group of Gramazio Kohler Research at ETH Zürich and the Self-Assembly Lab at Massachusetts Institute of Technology, this digital fabrication approach fosters a combination of cutting-edge robotic fabrication technology and low-grade building material, shifting the focus from precise assembly of known parts towards controlled aggregation of granular material such as gravel or rocks. Since the structures in this process are produced without additional formwork, are fully reversible, and are produced from local or recycled materials, this pursuit offers a radical new approach to sustainable, economical and structurally sound building construction. The resulting morphologies allow for a convergence of novel aesthetic and structural capabilities, enabling a locally differentiated aggregation of material under digital guidance, and featuring high geometrical flexibility and minimal material waste. This paper considers (1) fundamental research parameters such as design computation and fabrication methods, (2) first results of physical experimentation, and (3) the architectural implications of this research for a unified, material-driven digital design and fabrication process. Full-scale experimentation demonstrates that it is possible to erect building-sized structures that are larger than the work-envelope of the digital fabrication setup

Large-Scale Rapid Liquid Printing

Despite many advances, most three-dimensional (3D) printers today remain in the realm of rapid prototyping, rarely being used for manufacturing. Currently, the greatest challenges to advancing 3D printing technology are small build volumes, long print times, and limited material properties. In this article, we present rapid liquid printing (RLP) as a solution to these challenges. RLP is an experimental process that uses a tank of granular gel as a reusable support medium to greatly increase the speed, size, and material properties in 3D printing. The RLP machine can freely print in any direction, rather than layer by layer, depositing liquid material into the granular gel to form 3D structures. The RLP deposition system can use any one- or two-part material that is photo or chemically cured, expanding the range of possible materials to include high-quality industrial-grade rubbers, foams, and plastics, among many others. It is platform independent and can be implemented on any computer numerically controlled machine, robotic arm, or similar fabrication machine. In our research, we demonstrate the possible range of scales, printing both small- and large-scale objects ranging from inches to many feet. In addition to scale, RLP is fast, capable of printing a complex object in seconds to minutes rather than hours or days. In this article, we outline the three major components in the system: the control platform, deposition system, and granular gel. In addition, we explain our materials research and outline the primary steps of operation. Lastly, we present our results by comparing prints from an RLP machine with a stereolithography printer. With a combination of speed, scale, and a wide range of materials, RLP is an ideal platform for researchers, designers, and manufacturers to quickly print large-scale products with high-quality, industrial-grade materials. Keywords: 3D printing; large-scale printing; robotic fabrication; rapid liquid printing; additive manufacturin