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Printing Functional Systems

Cornell University College of Engineering. Computational Synthesis Lab http://ccsl.mae.cornell.edu. Printing Functional Systems. Worlds Within Worlds. Hod Lipson Mechanical & Aerospace Engineering Computing & Information Science Cornell University. Adaptation.

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Printing Functional Systems

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  1. Cornell University College of Engineering Computational Synthesis Lab http://ccsl.mae.cornell.edu Printing Functional Systems Worlds Within Worlds Hod Lipson Mechanical & Aerospace Engineering Computing & Information Science Cornell University

  2. Adaptation • Changing environments, tasks, internal structures • Behavioral adaptation • Morphological adaptation

  3. Breeding machines in simulation Lipson & Pollack, Nature 406, 2000

  4. Emergent Self-Model Bongrad, Zykov, Lipson (2006) Science, in press

  5. Damage Recovery With Josh Bongard and Victor Zykov

  6. Making Morphological Changes in Reality

  7. Printable Machines

  8. Multi-material processes Continuous paths Volume Fill High-resolution patterning, mixing Thin films (60nm)

  9. Multi-material RP Illustration: Bryan Christie

  10. Our RP Platform Fabrication platform: (a) Gantry robot for deposition, and articulated robot for tool changing, (b) continues wire-feed tool (ABS, alloys), (c) Cartridge/syringe tool

  11. Printed Active Materials 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. With Evan Malone

  12. Zinc-Air Batteries With Megan Berry

  13. Zinc-Air Batteries

  14. IPMC Actuators

  15. IPMC: Ionomer Ionomeric Polymer-Metal Composite • “Ionic polymer” • Branched PTFE polymer • Anion-terminated branches. • Small cation

  16. First printed dry actuator • Quantitative characterization • Improve service life • Reduce solvent loss • Reduce internal shorting • Improve force output, actuation speed

  17. Embedded Strain Gages Silver-doped silicon Robot finger sensor

  18. IPMC: Ionomer Ionomeric Polymer-Metal Composite • “Ionic polymer” • Branched PTFE polymer • Anion-terminated branches. • Small cation

  19. First printed dry actuator • Quantitative characterization • Improve service life • Reduce solvent loss • Reduce internal shorting • Improve force output, actuation speed

  20. IPMC Actuators

  21. Results Power [W] Force [mN]

  22. 100% Printable Robot

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

  24. The potential of RP • Physical model in hours • Small batch manufacturing • New design space • Design, make, deliver and consume products • Freedom to create

  25. Learning from the history • Similarity with the computer industry • In the ’50s-’60s computers… • Cost hundreds of thousands of $ • Had the size of a refrigerator • Took hours to complete a single job • Required trained personal to operate • Were fragile and difficult to maintain • Vicious circle • Niche applications  Small demand • Small demand  High cost  Niche applications Digital PDP-11, 1969 Stratasys Vantage, 2005

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

  27. The Killer App? Honeywell’s “kitchen Computer”

  28. Robust • Low cost • Hackable

  29. Fab@Home Precision: 25µm Payload: 2Kg Acceleration: 2g Volume: 12”x12”x10”

  30. Fab@Home

  31. Fab@Home: “Fablab in a box”

  32. www.FabAtHome.com

  33. Digital Structures

  34. Reconfigurable systems • Murata et al: Fracta, 1994 • Murata et al, 2000 • Jørgensen et al: ATRON, 2004 • Støy et al: CONRO, 1999 • Fukuda et al: CEBOT, 1988 • Yim et al: PolyBot, 2000 • Chiang and Chirikjian, 1993 • Rus et al, 1998, 2001 Zykov, Mytilianos, Adams, Lipson Nature (2005)

  35. Stochastic Systems: scale in size, limited complexity • Whitesides et al, 1998 • Winfree et al, 1998 Programmable Self Assembly

  36. Saul Griffith, Nature 2005

  37. Hardware implementation: 2D White, Kopanski & Lipson, ICRA 2004

  38. Implementation 1: Magnetic Bonding With Paul White, Victor Zykov

  39. Construction Sequence High Pressure Low Pressure

  40. Construction Sequence

  41. Construction Sequence

  42. Construction Sequence

  43. Construction Sequence

  44. Construction Sequence

  45. Reconfiguration Sequence

  46. Reconfiguration Sequence

  47. Implementation 2: Fluidic Bonding Accelerated x16 Real Time With Paul White, Victor Zykov

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