I find this topic of great interest, as I think it's one of the most important technologies on the horizon, with applications both on Earth and on Mars.
A great place to start on this topic is with Robert Freitas' 'Kinematic Self-Replicating Machines', which covers pretty much every advancement in the field up until the date of its publication. Adrian Bowyer (inventor of the RepRap) also has a chapter in 'Biomimetics: Nature-Inspired Innovation' that is worth a read.
There has been some work done on the topic by Gregory Chirikjian's lab at Johns Hopkins: doi:10.1109/CIRA.2003.1222279
A lot has also been published on this topic by Alex Ellery at Charleton University, including an exploration of 3D printed electric motors and analog neural network control systems: doi:10.7551/ecal_a_026
Following the citations in the above papers will lead you to more labs working on the topic. I haven't looked into the topic since *2019, so I would love to hear about new developments. I would love to hear from you if you find something of interest: anlum [at] protonmail [dot] com
My initial work was done at IBM Research in the early 80s. One was the BOXER project which looked at creating robot assembly plans from 3D solid models. The other was the CLADES project which looked at self-replicating systems. I also did research at CMU on a human/robot system, the TIRES project, to change car tires. A lot of these ideas transfer to self-reproducing systems.
Recent developments, such as low-cost robots, 3D printing, and FPGA/SoC systems make it possible to re-consider ideas that were beyond-the-possible in the 80s.
For example, instead of signal wires to each joint it is now possible to put bluetooth and a processor at each joint. Power can be routed through the structure without free-standing wires.
Or, for example, 3D end-point location can be directly measured using a laser and linear diffraction gratings mounted on the end-effector.
A lot of these high-tech items are hard to replicate. At the moment I'm pondering a method of constructing a servo. Low-tech, low-power, printable conductive plastic with conductive materials might make a servo. Using an harmonic drive would make it possible to generate sufficient torque from such a low-power inefficient motor.
There is also work on building a ROS/Gazebo model that can drive physical servos so part of the system is simulated and parts of it are actual hardware.
A great place to start on this topic is with Robert Freitas' 'Kinematic Self-Replicating Machines', which covers pretty much every advancement in the field up until the date of its publication. Adrian Bowyer (inventor of the RepRap) also has a chapter in 'Biomimetics: Nature-Inspired Innovation' that is worth a read.
There has been some work done on the topic by Gregory Chirikjian's lab at Johns Hopkins: doi:10.1109/CIRA.2003.1222279
A lot has also been published on this topic by Alex Ellery at Charleton University, including an exploration of 3D printed electric motors and analog neural network control systems: doi:10.7551/ecal_a_026
You can also check out this wikibook I found on seed factories - a topic which I think will be relevant going forward: https://en.wikibooks.org/wiki/Seed_Factories
Following the citations in the above papers will lead you to more labs working on the topic. I haven't looked into the topic since *2019, so I would love to hear about new developments. I would love to hear from you if you find something of interest: anlum [at] protonmail [dot] com