MILAbot-v0

We present the Modular Inchworm Lattice Assembler: a Low-Cost Robotic Platform for Discrete Assembly (aka MILAbot). This system is the newest in the generation of voxel-assembly relative robots, such as BILL-E, exponential BILL-Es, and recursive BILL-E. The goal of this work is to better enable large-scale, self-reconfigurable, distributed robotic construction of discrete structural feed- stocks by increasing robot flexibility while simplifying system architecture and lowering cost.

This repo contains all design files and code for the MILAbot, which is potentially usable for tasks beyond voxel assembly (the base 5-dof robot has sub 3 mm repeatability).

Hardware files are in the Hardware directory, PCB files are in Electronics, and firmware and software is in Code. The hardware files are provided as .step and .stl files, and the PCB designs are provided as .brd and .sch files. These are both originally designed in Fusion 360. The firmware is written using either the Arduino IDE or PlatformIO, so there are some little differences in the code. The motor driver code primarily leverages SimpleFOC. The path planning for the robot is done with pyDrake.