Jubilee Is an Open Source Motion Platform That Allows for Multi-Tool Fabrication

The increased use of computer-aided tools within human-computer interaction (HCI) application spaces is currently hindered by the limitation to a single, computer-driven tool, and the requirement for either the modification of an existing machine or the development of a custom device built from scratch. Jubilee is a new, open source motion platform that both enables the creation of multi-tool applications and removes the requirement for prior mechanical design experience necessitated by custom modifications by presenting a completed machine design that is easily extended. This allows for many novel applications that would require the repeated, sequential exchange of multiple tools, such as, in biology, the control of multiple syringes for deposition and then a microscope directed to image results.

Jubilee is intended to be assembled, and so is comprised of parts that are laser-cut, 3D-printed, or available for purchase as stock. The primary hardware components are the motion platform, which includes a region for parking tools and a work envelope of 300 x 300 x 200mm. Multiple tools are accommodated through both an automatic, programmable tool changer on the machine’s moving carriage and a region of the machine dedicated to parking multiple tools. In this way, tools need not be limited to a particular type, and the system can alternate between tools parked in the designated space. Ease of expansion is achieved through two physical points: the removable bedplate and the carriage. Tools and bedplates are both user-definable. Since Jubilee is driven by 3D printer style G-code interpreted by an off-the-shelf motion control board, it may be readily used by any software tool that produces G-code.

The Jubilee model produced to demonstrate use cases is readily equipped with 3D printer extrusion tools, liquid handling syringe tools, pen tools, and a microscope tool. All of these were existing tools used to demonstrate the platform’s ability to produce novel results through the automatic, sequential exchange of these tools. The platform itself is packaged with a comprehensive set of documentation to enable reproducibility and expansion. The bill of materials and virtual step-by-step instructions are all Multi-tool applications that are important, yet currently underexplored space for interesting human-computer interactions that may be made possible by Jubilee.