Cogeneration of mechanical, electrical, and software designs for printable robots from structural specifications

Designing and fabricating new robotic systems is typically limited to experts, requiring engineering background, expensive tools, and considerable time. In contrast, to facilitate everyday users developing custom robots for personal use, this work presents a new system to easily create printable foldable robots from high-level structural specifications. A user merely needs to select electromechanical components from a library of basic building blocks and pre-designed mechanisms, then connect them to define custom robot assemblies. The system then generates complete mechanical drawings suitable for fabrication, instructions for the assembly of electronics, and software to control and drive the final robot. Several robots designed in this manner demonstrate the ability and versatility of this process.