A Design Environment for the Rapid Specification and Fabrication of Printable Robots

  • Ankur Mehta
  • Nicola Bezzo
  • Peter Gebhard
  • Byoungkwon An
  • Vijay Kumar
  • Insup Lee
  • Daniela Rus
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 109)


In this work, we have developed a design environment to allow casual users to quickly and easily create custom robots. A drag-and-drop graphical interface allows users to intuitively assemble electromechanical systems from a library of predesigned parametrized components. A script-based infrastructure encapsulates and automatically composes mechanical, electrical, and software subsystems based on the user input. The generated design can be passed through output plugins to produce fabrication drawings for a range of rapid manufacturing processes, along with the necessary firmware and software to control the device. From an intuitive description of the desired specification, this system generates ready-to-use printable robots on demand.


Design co-generation Personal robots Printable robots 



This material is based on research sponsored by the National Science Foundation awards EFRI-1240383 and CCF-1138967, for which the authors express thanks.


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Ankur Mehta
    • 1
  • Nicola Bezzo
    • 2
  • Peter Gebhard
    • 2
  • Byoungkwon An
    • 1
  • Vijay Kumar
    • 2
  • Insup Lee
    • 2
  • Daniela Rus
    • 1
  1. 1.Massachusetts Institute of TechnologyCambridgeUSA
  2. 2.University of PennsylvaniaPhiladelphiaUSA

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