1. PPR Examples and Database to Support PPR Design and Fabrication

2. Database Architecture
Must cover:
Mechanical components
Electrical components
Software components
Integration of all three components

3. Open Questions How to organize? Hierarchy within each domain?
Are there databases that integrate across domains (e.g., mechanical plus electrical)?
What is the best way (language?) to describe integration and integrated functionality?
Understanding tradeoffs
Sacrificing system-level optimality

4. Mechanical components
8 kinematic rigid constraints
Lower pairs: planar
Revolute, prismatic
Lower pairs: spatial
Cams (higher pairs?)

5. Mechanical Components (continued)
Linkages
Constructions with lower pairs
Mechanisms
Constructions with lower/higher pairs
Machines
Linkages or mechanisms that transmit forces and do work

6. Electrical components
Sensors
Gyros
Accelerometers
IMUs
Joint sensors
Cameras
GPS
Basic components
Passive (R, L, C)
Active
Transistors, diodes, amplifiers
Active for electromechanical
Micro controllers
Motor controllers
Processors
FPGAs
Low power processors
Integrated boards
Circuits
Actuators
Brushless DC
Brush DC
Motors + gearheads
Solenoids
Non-rotating (SMA, PZT, pnuematic)
Printable circuits/motifs
Premade designs
AHRS, data loggers

7. Power Battery (supercaps, dry-cell, wet-cell chemical etc.)
Solar Cell – piezo-electric -
Combustion engine
Heat
Spring – Dampers?
Compressed gas
Pressurized fluid
Transmitted power

8. Communication/Interfaces
Wireless
Radios (frequency, power, …)
IrDA
Wired
I2C
CAM
usb
parallel
Serial
Firewire
PWM
analog voltage
Ethernet
etherCAT

9. Software components Device drivers for actuators, sensors, radios
Inter-process communication
Sensor nodes
IMU
GPS
Laser Range Finder
Odometry …
Actuator nodes
Motors
Propellers
Grippers
Controllers
Motion planning operations
Tracking
Transportation
Estimators
User Interface

10. Eight Examples of PPRs Print, fold, assemble Swamp boat Steerable car
Quadrotor
Fixed wing
Print, fold, assemble (Peek)
Lego-like modules
Humanoid
Snake robot
Jumping/running hexapod
Customized end effector

11. Swamp Boat

12. Steerable car

13. Quadrotor

15. Fixed wing flyer 2 thruster

16. Fixed Wing Aircraft

18. Snake 24 G1V5 modules (maybe 20?) Each polybot G1V5 module
Has an RC servo, a pic micro
Batteries and structure

19. Jumping hexapod Six Ckbot modules Plus fiberglass legs
J. Sastra, S. Revzen, and M. Yim, "Softer legs allow a modular hexapod to run faster," in Climbing and Walking Robots (CLAWAR), 2012.

20. Modular End Effectors