< > [Discrete](../../discrete/index.html) > Macro
### Why Discrete Assembly?
<a href="https://vimeo.com/246936220">Scale</a> (extensibility vs. continuous processes)
<img src='images/scale.JPG' width=750px class="center">
<a href="http://cba.mit.edu/docs/papers/16.11.SoRo.pdf">Heterogeneity</a>
<img src='images/carvplane.JPG' width=750px class="center">
<img src='images/hetero.JPG' width=750px class="center">
<a href="https://arxiv.org/pdf/1608.00625.pdf">Combinatorial</a>
<img src='images/combinatorial.JPG' width=750px class="center">
### Material Systems
####Bricks
<img src='images/bricks2.JPG' width=750px class="center">
<a href="helm_Mobile Robotic Fabrication on Construction Sites_dimRob.pdf ">Robot arm brick placement</a>
<a href="Augugliaro_The flight assembled architecture installation Cooperative
contruction with flying machines.pdf ">UAV brick placement</a>
<a href="petersen_TERMES An Autonomous Robotic System for.pdf">Termite-inspired robot brick placement</a>
#### Voxels
<img src='images/voxel.JPG' width=750px class="center">
<a href="hiller_Methods of Parallel Voxel Manipulation for 3D Digital Printing.pdf ">Spherical voxels with binder</a>
<a href="trinh_Robotically Assembled Aerospace Structures Digital Material Assembly
using a Gantry-Type Assembler.pdf">Automated assembly with nuts and bolts</a>
<a href="terada_Automatic Modular assembly system and its distributed control.pdf ">Cubic voxels with inchworm robot</a>
#### Discrete lattice structures
<img src='images/lattice.JPG' width=750px class="center">
Background: <a href="schaedler_Architected Cellular Materials.pdf"> lattice metamaterials </a>
<a href="http://cba.mit.edu/docs/papers/13.09.Science.pdf">CFRP ultralight</a>
<a href="http://cba.mit.edu/docs/papers/16.07.msec.bridge.pdf">CFRP meter scale</a>
<a href="final_MSEC2018-6442_Building Block-Based Assembly of Scalable Metallic Lattices.pdf">Metal ultralight</a>
#### Trusses
<img src='images/truss.JPG' width=750px class="center">
<a href="doggett_Robotic Assembly of Truss Structures for Space Systems.pdf">NASA robot truss assembly</a>
<a href="lindsey_Construction with quadrotor teams.pdf">UAV truss assembly</a>
<a href="nigl_Autonomous truss reconfiguration and manipulation.pdf">Truss worm</a>
#### Kit of Parts
<img src='images/kit.JPG' width=750px class="center">
<a href="dogar_Multi-scale assembly with robot teams.pdf">Mobile Kukas with IKEA wingbox</a>
<a href="High Accuracy Assembly of Large Aircraft Components Using.pdf ">Wing assembly line</a>
<a href="gefke_Advances in Robotic Servicing Technology Development.pdf ">Satellite Servicing</a>
### Manufacturing approaches
#### Global Robots
<img src='images/global.JPG' width=750px class="center">
- Gantries
- Robot arms with linear axes
- Strength:
- Precision
- Throughput
- Weakness:
- Limited build volume
- Machine scales with part size
- Example:
- <a href="https://www.youtube.com/watch?v=sjAZGUcjrP8 ">Auto assembly</a>
#### Mobile Robots
<img src='images/mobileALL.JPG' width=750px class="center">
- Wheeled
- Flying
- Crawling
- Strength:
- Scale
- Flexibility
- Autonomy
- Weakness:
- Precision a function of metrology
- Must address robustness to failure
- Example:
- <a href="https://www.youtube.com/watch?v=4YcrO8ONcfY&feature=youtu.be">Brick laying</a>
### Applications
- Metamaterials
- <a href="Liu_Metamaterials a new frontier of science and technology.pdf">Electromagnetic</a>
- <a href="Haghpanah_Multistable Shape-Reconfi gurable Architected Materials.pdf"> Mechanical</a>
### Design Tools
<a href="http://www.amandaghassaei.com/projects/amoeba/">Amoeba</a>, <a href="http://cba.mit.edu/docs/theses/16.08.Ghassaei.pdf">Thesis</a>
<br>
<a href="https://www.creativemachineslab.com/voxcad.html">VoxCAD</a>
<br>
<a href="http://cba.mit.edu/docs/theses/14.08.Calisch.pdf">PFEA</a>
### Fun
<a href="https://www.youtube.com/watch?v=rPeGpjGHk4Y">Acoustic Voxels</a>
<a href="https://vimeo.com/61215585">Voxel Art</a>
<a href="https://www.youtube.com/watch?v=n6tQiJq9pQA">Robotic LEGO assembly</a>
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