Optimization and design of four gripper pneumatical Rubik’s Cube solver

• Autorzy: Hajduk M. , Varga J. , Durovsky F
• Języki publikacji: EN

Abstrakty

EN

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 popula-rity of Rubik’s cube in one resulting device. First version of solver con-structed by our department was equipped only by 2 lower grippers, resul-ting 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.

Słowa kluczowe

EN

Rubik's cube; Pneumatical manipulator; Service robotics; Thistletwaite45

• Wydawca: Polskie Towarzystwo Promocji Wiedzy ; Lublin University of Technology
• Czasopismo: Applied Computer Science
• Rocznik: 2014
• Tom: Vol. 10, no 3
• Strony: 57--67
• Opis fizyczny: Bibliogr. 11 poz., fig.

Twórcy

autor

Hajduk M.

• Department of Production Systems and Robotics, Faculty of Mechanical Engineering, Technical University of Kosice, 042 00 Kosice Slovakia

autor

Varga J.

• Department of Production Systems and Robotics, Faculty of Mechanical Engineering, Technical University of Kosice, 042 00 Kosice Slovakia

autor

Durovsky F

• Department of Production Systems and Robotics, Faculty of Mechanical Engineering, Technical University of Kosice, 042 00 Kosice Slovakia

Bibliografia

• [1] HAMTA N., GHOMI S.M.T.F., JOLAI F., BAHALKE U.: Bi-cirteria assembly line balancing by considering flexible operation times. Applied Mathematical Modelling, 2011, Vol. 35, Issue 12, pp. 5592-5608.
• [2] GOLA A., ŚWIĆ A., KRAMAR V.: A multiple-criteria approach to machine-tool selection for focused flexible manufacturing systems. Management & Production Engineering Review. Vol. 2, No 4, 2011, p. 21-32.
• [3] GOLA A., ŚWIĆ A.: Algorytm generowania ścieżek techno-logicznych w procesie doboru obrabiarek, Zarządzanie Przedsiębiorstwem, Nr 1, 2011, s. 8-16 (in Polish).
• [4] DONG J., CHEN Y., ZHANG A., YANG Q. F.: A new three-machine shop scheduling complexity and approximation alghoritm. Journal of Combinatorial Optimization, Vol. 26, Issue 4, 2013, pp. 799-810.
• [5] JUMAN Z.A.M.S., HOQUE M.A.: A heuristic solution on technique to attain the minimal total cost bound of transporting a homogeneous product with varying demands and supplies. European Journal of Operational Research, Vol. 239, Issue 1, 2014, pp. 146-156.
• [6] Cube solving robots http://www.speedsolving.com/wiki/index.php/List_of_cube_ solving_robots
• [7] LU S. L., HUANG M., KONG F. R.: The Design of a Rubik's Cube Robot. Advanced Materials Research, 709 (2013), pp. 432-435.
• [8] CubeStormer III http://gizmodo.com/lego-robot-with-a-smartphone-brain-shatters-rubiks-cub-1544556295.
• [9] DUROVSKY F.: Robust Rubik’s Cube detection. Applied Mechanics and Mechatronics, vol. 611, 2014, pp. 253-264.
• [10] Progressive improvements in solving algorithms http://cubeman.org/dotcs.txt.
• [11] Open source implementation of Thistleswait45 algorithm by Joren Heit – Mathworks file exchange http://www.mathworks.com/ matlabcentral/fileexchange/31672-rubiks-cube-simulator-and-solver.