Discrete Motion System
First Claim
1. A discrete motion system, comprising:
- a lattice, the lattice having a regular configuration of attachment points;
at least one discrete motion module, wherein each discrete motion module is controllable to move across the lattice in discrete increments defined by the regular configuration of attachment points, each discrete motion module comprising;
at least one actuator configured to cause movement of the motion module across the lattice;
a module body connected to the at least one actuator; and
at least one attachment foot member attached to the module body, each foot member being responsive to actuation of at least one of the at least one actuator and comprising at least one attachment mechanism that is controllable to alternately attach the motion module to the lattice at one or more of the regular attachment points and release the module from the lattice as the module moves across the lattice; and
at least one controller configured for causing actuation of the at least one actuator in order to cause the movement of the discrete motion module across the lattice.
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Abstract
Discrete motion systems move relative to a lattice, using bistable mechanisms to snap between lattice locations. A discrete motion system includes a lattice having a regular configuration of attachment points, one or more motion modules that move across the lattice in discrete increments, and controllers that direct the modules. A module includes a body, actuators, and feet having mechanisms for attaching and detaching the module from the lattice. The module may include actuated joints that cause movement of arm structures to engage and disengage the feet from the lattice. The module may be a digital inchworm, and may be a relative assembler having at least one assembler arm. A method for discrete extensible construction includes creating a lattice having a regular configuration of attachment points, causing a discrete motion relative assembler to systematically move across the lattice in discrete increments, and causing placement of materials by the assembler arm.
75 Citations
20 Claims
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1. A discrete motion system, comprising:
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a lattice, the lattice having a regular configuration of attachment points; at least one discrete motion module, wherein each discrete motion module is controllable to move across the lattice in discrete increments defined by the regular configuration of attachment points, each discrete motion module comprising; at least one actuator configured to cause movement of the motion module across the lattice; a module body connected to the at least one actuator; and at least one attachment foot member attached to the module body, each foot member being responsive to actuation of at least one of the at least one actuator and comprising at least one attachment mechanism that is controllable to alternately attach the motion module to the lattice at one or more of the regular attachment points and release the module from the lattice as the module moves across the lattice; and at least one controller configured for causing actuation of the at least one actuator in order to cause the movement of the discrete motion module across the lattice. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A discrete motion relative assembler, comprising:
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a discrete motion module, wherein the discrete motion module is controllable to move across a lattice in discrete increments defined by a regular configuration of attachment points on the lattice, the discrete motion module comprising; at least one actuator configured to cause movement of the motion module across the lattice; a module body connected to the at least one actuator; at least one attachment foot member attached to the module body, each foot member being responsive to actuation of at least one of the at least one actuator and comprising at least one attachment mechanism that is controllable to alternately attach the motion module to the lattice at one or more of the regular attachment points and release the module from the lattice as the module moves across the lattice; and at least one assembler arm attached to the module body, the assembler arm being configured for placing materials; and at least one controller configured for causing actuation of the at least one actuator in order to cause the movement of the discrete motion module across the lattice and for directing placement of the materials by the assembler arm. - View Dependent Claims (15, 16, 17, 18)
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19. A method for discrete extensible construction, comprising the steps of:
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creating a lattice having a regular configuration of attachment points; causing a discrete motion relative assembler to systematically move across the lattice in discrete increments defined by the regular configuration of attachment points on the lattice, the discrete motion relative assembler comprising; at least one actuator configured to cause movement of the motion module across the lattice; a module body connected to the at least one actuator; at least one attachment foot member attached to the module body, each foot member being responsive to actuation of at least one of the at least one actuator and comprising at least one attachment mechanism that is controllable to alternately attach the motion module to the lattice at one or more of the regular attachment points and release the module from the lattice as the module moves across the lattice; and at least one assembler arm attached to the module body, the assembler arm being configured and controllable for placing materials; and causing placement of materials by the assembler arm. - View Dependent Claims (20)
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Specification