OPTIMIZATION AND DESIGN OF FOUR GRIPPER PNEUMATICAL RUBIK’S CUBE SOLVER

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ABSTRACT

Robotic Rubik's solver is an excellent example of science popularizing mechatronic device, since it combines knowledge of several technological fields including computer vision techniques, advanced numerical algorithms and control of industrial pneumatic components with popularity of Rubik's cube in one resulting device. First version of solver constructed by our department was equipped only by 2 lower grippers, resulting in approximately four minutes for single cube solution. Proposed paper describes not only experience gained by development of upgraded 4 gripper version but includes statistical analysis of Thistlethwait's 45 algorithm required for solving process optimization. Mechanical design, electronics, system overview, performance and limitations of upgraded 4 gripper version are explained in detail as well.

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