Convergence to self replicating

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PMCG
Has anyone yet built a reprap that (besides the electronics) was 100% reproducible by the reprap.

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VDX
as long, as we can't print linear drives

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konwiddak
Someone made this: [www.youtube.com]

I don't know if its ever been made into a complete reprap.

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VDX
It's possible to make most of the parts needed for a RepRap (even a big count of the 'vitamins' and some new/superior techniques and materials) with alternative microtech-methods, that can be redefined as 'self-replicating', but the complexity and cost of the resources is actually out of the DIY-range.

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Feynman
Now comes the interesting question: How do we make such a tiny mechanism? I leave that to you. However, let me suggest one weird possibility. You know, in the atomic energy plants they have materials and machines that they can't handle directly because they have become radioactive. To unscrew nuts and put on bolts and so on, they have a set of master and slave hands, so that by operating a set of levers here, you control the "hands" there, and can turn them this way and that so you can handle things quite nicely.

Most of these devices are actually made rather simply, in that there is a particular cable, like a marionette string, that goes directly from the controls to the "hands." But, of course, things also have been made using servo motors, so that the connection between the one thing and the other is electrical rather than mechanical. When you turn the levers, they turn a servo motor, and it changes the electrical currents in the wires, which repositions a motor at the other end.

Now, I want to build much the same device – a master-slave system which operates electrically. But I want the slaves to be made especially carefully by modern large-scale machinists so that they are one-fourth the scale of the "hands" that you ordinarily maneuver. So you have a scheme by which you can do things at one- quarter scale anyway – the little servo motors with little hands play with little nuts and bolts; they drill little holes; they are four times smaller. Aha! So I manufacture a quarter-size lathe; I manufacture quarter-size tools; and I make, at the one-quarter scale, still another set of hands again relatively one-quarter size! This is one-sixteenth size, from my point of view. And after I finish doing this I wire directly from my large-scale system, through transformers perhaps, to the one-sixteenth-size servo motors. Thus I can now manipulate the one-sixteenth size hands.

Well, you get the principle from there on. It is rather a difficult program, but it is a possibility. You might say that one can go much farther in one step than from one to four. Of course, this has all to be designed very carefully and it is not necessary simply to make it like hands. If you thought of it very carefully, you could probably arrive at a much better system for doing such things.

If you work through a pantograph, even today, you can get much more than a factor of four in even one step. But you can't work directly through a pantograph which makes a smaller pantograph which then makes a smaller pantograph – because of the looseness of the holes and the irregularities of construction. The end of the pantograph wiggles with a relatively greater irregularity than the irregularity with which you move your hands. In going down this scale, I would find the end of the pantograph on the end of the pantograph on the end of the pantograph shaking so badly that it wasn't doing anything sensible at all.

At each stage, it is necessary to improve the precision of the apparatus. If, for instance, having made a small lathe with a pantograph, we find its lead screw irregular – more irregular than the large-scale one – we could lap the lead screw against breakable nuts that you can reverse in the usual way back and forth until this lead screw is, at its scale, as accurate as our original lead screws, at our scale.

We can make flats by rubbing unflat surfaces in triplicates together – in three pairs – and the flats then become flatter than the thing you started with. Thus, it is not impossible to improve precision on a small scale by the correct operations. So, when we build this stuff, it is necessary at each step to improve the accuracy of the equipment by working for awhile down there, making accurate lead screws, Johansen blocks, and all the other materials which we use in accurate machine work at the higher level. We have to stop at each level and manufacture all the stuff to go to the next level – a very long and very difficult program. Perhaps you can figure a better way than that to get down to small scale more rapidly.