1. Unit Design and Prototype

Each unit has six connecting arms along three orthogonal axes which can rotate independently, and is designed such that the collection of these identical units can form various three-dimensional structures.
We have built prototype units, which weighs approximately 7kg with a span of 26.5cm. Rotations and connections are driven by a single motor through electro-magnetic clutches. Each connecting hand has two fingers to grasp each other.

< Overview of a 3-D unit >

< Two units connected >

< Connection of two unit arms >

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