Self-assembling assemblers and manipulators built from a set of primitive blocks

An apparatus that assembles itself, comprising:

• a grid or lattice base;
• one or more linear step actuation modules that move from one location to a next location on the grid or lattice base;
• one or more anchor modules that attach the apparatus to grid the or lattice base;
• one or more gripper modules that grip the one or more linear step actuation modules, the one or more anchor modules, and others of the one or more gripper modules;
• one or more parts feeders, positioned at a location on or near the grid or lattice base;
• and
• a build-stage attached to the grid or lattice base with an additional degree-of-freedom to enable the assembly of three-dimensional (3D) structures;
• wherein the one or more linear step actuation modules, the one or more anchor modules, and the one or more gripper modules are built from parts from a feedstock of parts that interlock with one another via in-plane connections, and form a hierarchical assembly of functions, modules, and systems;
• and
• wherein the grid or lattice base includes a central processor, logic, and power for sending power and control signals to the one or more linear step actuation modules, anchor modules, and gripper modules via a substrate of the grid or lattice base.

An apparatus that assembles a copy of itself on a lattice from a collection of building blocks available to the lattice from a feedstock of parts located on or near the lattice, the apparatus operating on the lattice on which it moves and from which it receives power and control signals, the apparatus comprising:

• one or more linear steppers constructed to move the apparatus stepwise along the lattice from a first location on the lattice to a second location on the lattice;
• one or more grippers on the lattice constructed to grip and place building blocks on the lattice;
• one or more anchors on the lattice constructed to attach the apparatus to the lattice;
• wherein the one or more linear steppers, the one or more grippers and the one or more anchors are themselves constructed of blocks from the collection of building blocks;
• wherein the collection of building blocks includes structural blocks, conductive blocks, actuator blocks, and flexural blocks;
• and
• wherein the one or more steppers, the one or more grippers and the one or more anchors cooperate to produce a replica of the apparatus on the lattice;
• a processor electrically attached to the lattice that feeds control signals to the one or more linear steppers, the one or more grippers and the one or more anchors via the lattice, wherein said control signals control production of said replica of the apparatus.