A design for autonomous self-building blocks

摘要

The goal of this self-assembly blocks project is to demonstrate a proof of concept of self-configuring building block in potential dynamic structures application. Unlike regular masonry unit, a self-configuring block has latches, actuators and control system. Blocks translate themselves via expansion and retraction of its arm to push and pull other blocks in the system. Through the embedded control systems, these interactions and movements are coordinated to produce different geometric configurations based on user command. This paper presents our initial finding of this concept via the experiment we conducted on the interactions between two blocks. The mechanical design of the block is detailed and the rapid prototyping and molding technique used in manufacturing the parts is described. Novel circular Halbach magnetic array latches and shape memory alloy switches are shown. The coordination of the reconfiguration of the blocks by an Arduino UNO controller with motion sensors and H-bridges in the motor driving circuit is described. Finally, tests conducted on block action control, maximum motor and latch forces, and block interactions to accomplish a defined sequence action are discussed.