Functional Freeform Fabrication for Physical Artificial Life

Abstract

Solid freeform fabrication (SFF) allows 3D-printing of arbitrarily shaped structures, directly from computer-aided design (CAD) data. SFF has traditionally focused on printing passive mechanical parts. Advances in this technology and developments in materials science make it feasible to begin the development of a single, compact, robotic SFF system – including a small set of materials-which can produce complete, active, functional electromechanical devices- mobile robots, for instance. We are advancing steadily toward this goal, and successes thus far have included the freeform fabrication of zinc-air batteries, conductive wiring, flexure joints, and combinations of these with thermoplastic structures. Several essential functionalities – actuation, sensing, and