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

Hajduk M., Varga J., Durovsky F

Applied Computer Science

2014

Vol. 10, no 3

57--67

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.